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I am currently trying to do mapping with a mobile robot using SLAM Toolbox, I have the odometry setup from the wheel encoders and an IMU, however I noted the SLAM toolbox node isn't subscribed to the /odometry/filtered topic or the /tf so I wonder how does it know its pose, my guess is that the toolbox estimates the pose based on the Lidar data and I want to know if it is possible to include my odometry information to make the mapping more accurate. I am using ROS 2 Humble on Ubuntu 22.04.

Thanks in advance :)

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Which mapping algorithm are you using? As I can see, cartographer is subscribing to pose data and to IMU data, then filters them and extrapolate real robot pose in the map. (https://ros2-industrial-workshop.readthedocs.io/en/latest/_images/high_level_system_overview.png). I think you should take care of topic names that nodes are subscribing to.

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