Hello
We are using the robot_localization package to provide a state estimate by fusing IMU-data in 1 ekf_localization_node.
We want to use gmapping for slam but we don't exactly know how to configure this in combination with the robot_localization package. In the presentation from Tom Moore on roscon, he told that the output data from gmapping can be fused with IMU-data in a second ekf_localization_node (https://www.osrfoundation.org/tom-moore-working-with-the-robot-localization-package/) but this is the part that I don't get.
What I was thinking is that the output from the first ekf_localization_node (Odometry message) can be used as input for the gmapping package, so that there is only 1 ekf_localization_node. If it is possible to fuse IMU-data with data from gmapping, how is it exactly done?
Extra: We also have GPS available, is it recommended to fuse this with gmapping because it was more like an OR story(or navsad, or amcl or gmapping) told in the presentation?
Kind regards,
Stef
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