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According to the Interfacing with Husky tutorial, the husky robot controller has built-in odometry integration from the encoders and IMU using an Extended Kalman Filter. The filtered result is published on the /odometry/filtered topic. You could remap that to odometry in the move_base configuration, for example, to use the filtered odometry instead of the encoder-only odometry.

If instead you are not using the Husky IMU and want to filter it yourself, you could subscribe to husky_velocity_controller/odom (or remap) in robot_localization.