Odometry estimation ONLY based on IMU sensor

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Hello guys,

I'm trying to run some simulations in gazebo where I want to show the impact of different IMU noise types on an estimated odometry to especially show how only small noise growths big by integrating it multiple times.

Therefore I actually need to somehow create an odometry msg only based on the IMU msg.

Are there any packages available to do so?

I tried already to use robot_pose_ekf robot_pose_ekf package and defined only my IMU as an input, as well as the robot_localization_pkg with the same strategy, but without success: I simulated a "perfect" IMU with no noise at all (I'm using the hector_gazebo_imu_plugin), but the calculated odometry wasn't even close to the "real" base_link position I receive from gazebos link_states.