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robot_pose_ekf is not quite what you expect it to be. It was developed for a specific purpose on the pr2 robot.

  • http://answers.ros.org/question/9446/how-do-i-compute-the-covariance-matrix-for-an-orientation-sensor/
  • http://answers.ros.org/question/39790/robot_pose_ekf-and-gps/