can i use this controller on real robot ?

[elpimous]

Hello the team, I made a homemade BLDC robot, and i'd like to test your controller. Does it need foot sensors (i don't have ones) Does it need a tracking odom (like t265) or can it use ekf odom ? if yes, any examples ? Thanks the team Vincent ( https://github.com/elpimous/ylo-2 )