The first step is to fuse all data from IMU and from odometry with the Unscented Kalman filter. I have used the “robot_localization” node in ROS.
To start the node estimator you must start the node with all information about all sensors:
<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
<rosparam command="load" file="$(find dude_control)/config/localization.yaml" />
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