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For anyone searching to get started with robot_localization, here's some info.

Here's the main docs that you should read through: http://docs.ros.org/lunar/api/robot_localization/html/index.html

Watch this video: https://vimeo.com/142624091

And here is the github repo that contains all the source including some examples: https://github.com/cra-ros-pkg/robot_localization

The simplest example in this repo is called ekf_template, and it comprises two files:

  • a config yaml file here: https://github.com/cra-ros-pkg/robot_localization/blob/kinetic-devel/params/ekf_template.yaml
  • a launch file: https://github.com/cra-ros-pkg/robot_localization/blob/kinetic-devel/launch/ekf_template.launch

Bing bam boom! It's actually not that hard to get it going, the hardest part is just putting it together cause there's no simple end to end getting started guide, so don't despair!