robot_pose_ekf and localization in the known map [closed]

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Hello

I would like to use robot_pose_ekf to estimate the robot position. My goal is to improve the accuracy of the estimated robot postion by sensor package consist of IMU, laser and Camera. I tried amcl with Gmapping but the estimated robot pose was not so accurate. Thought of trying using robot_pose_ekf that fuse IMU and Visual odometry (using vusio2 package). So how use that estimated pose of robot_pose_ekf for localisation.