Hi everyone,
Let me write my question out like this:
- I have IMU data from an IMU sensor
- I do not always have a xtion available for helping in localization (it could be occupied with another task).
- I could get odometry data from the wheels.
Now I am a bit lost with what I need for localization. I have used AMCL in the past with a kinect and odometry data for localization, but now I want to mainly be using the IMU sensor. I read somewhere that I can use robot_pose_ekf for this, but it forces the need for odometry (visual or mechanical), why is this so?
I wanted to start with just localization through the IMU sensor and AMCL, but how would I go about doing this?
I am a bit lost with what I need, so some general overview of possibilities would be appreciated.
Thanks in advance!
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