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Here's a simple example using robot_localization: launch file, yaml config file.

We've been using this setup for fusing data from wheel/track odometry with IMU data from a UM7 IMU (and thus getting full 3D odometry). It has to be noted that for both IMU and wheel odometry, sensible covariances have to be published, as those directly get used by the EKF to fuse estimates.

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