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@Murilo F. M. already pretty much hit the nails on their respective heads. Re: (1), I need to update the documentation. ekf_localization_node was the only node at the time I wrote it, but then I added utm_transform_node to aid in GPS integration, and then neglected to update the wiki. For (3), robot_localization doesn't (yet) use linear accelerometer data. The only IMU data it uses is orientation and orientation velocity. If your accelerometers are also providing some estimate of orientation, then you can use both.

@Murilo F. M. already pretty much hit the nails on their respective heads. Re: (1), I need to update the documentation. ekf_localization_node was the only node at the time I wrote it, but then I added utm_transform_node to aid in GPS integration, and then neglected to update the wiki. For (3), robot_localization doesn't (yet) use linear accelerometer data. The only IMU data it uses is orientation and orientation rotational velocity. If your accelerometers are also providing some estimate of orientation, then you can use both.

@Murilo F. M. already pretty much hit the nails on their respective heads. Re: (1), I need to update the documentation. ekf_localization_node was the only node at the time I wrote it, but then I added utm_transform_node to aid in GPS integration, and then neglected to update the wiki. For (3), robot_localization doesn't (yet) use linear accelerometer data. The only IMU data it uses is orientation and rotational velocity. If your accelerometers are also providing some estimate of orientation, then you can use both.