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I'm guessing your IMU puts out linear acceleration, angular velocity, and absolute orientation. While I have a branch of robot_localization that will take in linear acceleration data, I should point out that the double integration of linear acceleration as your only source of absolute position will produce a really poor estiamte. If you had some estimate of your vehicle's linear velocity, such as from your robot's wheel encoder odometry, then you'd definitely benefit from the linear acceleration data.
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I'm guessing your IMU puts out linear acceleration, angular velocity, and absolute orientation. While I have a branch of robot_localization that will take in linear acceleration data, I should point out that the double integration of linear acceleration as your only source of absolute position will produce a really poor estiamte. estimate. If you had some estimate of your vehicle's linear velocity, such as from your robot's wheel encoder odometry, then you'd definitely benefit from the linear acceleration data.
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