Hello

I would like to know how to use IMU in the ICP Odometry. I have a sensor package consisting of IMU and Laser. I tried different methods for pose estimation and one aof those was AMCL. For that pusrpose I have the laserscanmatcher package. There is used ICP for the scan matcher but Im not sure of the role of IMU. How to check if UMU beeing used in the ICP odometry?? Any help?