some tricks to solve the wheel slipping

[silent-zhou]

Excellent work！ thank you to Dr. Yuan for his open source work. In my own data, I found that the wheel often slips, which leads to poor speed observation constraints. Currently, I use a simple method of pre integrating the rotation and translation of the wheel to determine whether it slips. However, this often requires adjusting parameters and has poor stability. Is there any other good method?