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I have not worked with this package but here are some guesses:

• Make an odometery "sensor" which sends measurements of zero velocity with zero* variance. It only sends out such messages when the real odometry message has had zero velocty for a short time.
• Use the manual state reset to continually put the system back to its values before forward prediction

*Dont literally use 0, or it will be set to 1e-6 (see the last note on the sensor data page)

I have not worked with this package but here are some guesses:

• Make an odometery "sensor" which sends measurements of zero velocity with zero* variance. It only sends out such messages when the real odometry message has had zero velocty for a short time.time. When the robot starts moving again there will be a short delay before the EKF acknowledges movement based on the sensor_timeout value.
• Use the manual state reset to continually put the system back to its values before forward prediction

*Dont literally use 0, or it will be set to 1e-6 (see the last note on the sensor data page)

I have not worked with this package but here are some guesses:

• Make an a pose "sensor" [edit: I previously said odometery "sensor" instead of pose] which sends measurements of zero velocity with zero* variance. It only sends out such messages when the real odometry message has had zero velocty for a short time. When the robot starts moving again there will be a short delay before the EKF acknowledges movement based on the sensor_timeout value.
• Use the manual state reset to continually put the system back to its values before forward prediction

*Dont literally use 0, or it will be set to 1e-6 (see the last note on the sensor data page)