Multiple odometry sources?

Can isaac sdk handle multiple odometry sources (i.e. stereo visual and differential drive ) at the same time?

Certain codelets can integrate different sources (stereo visual, kinematic odometry from encoders, integrating velocity commands or IMU, etc.). to provide a more accurate source of odometry. For example, the StereoVisualOdometry codelet, uses stereo image pairs and IMU readings to produce an estimate of ego motion which can be fed into the DifferentialBaseWheelImuOdometry codelet.