*5.3. Odometry*

In a previous work [42], we described a generic module for low-level control of Ackermann type vehicles, called control logic for easy Ackermann robotization (CLEAR). From this low-level module, we obtain the linear speed and steering angle of the vehicle. For this first implementation of the framework, we developed a module to extract the positions and orientations by fusing the information obtained through CLEAR and an inertial measurement unit (IMU). This module provides as output the standard ROS message for odometry.
