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you are using AMCL and robot_pose_ekf at the same time they are trying solve the same problem. Using these same ekfs wont improve accurancy. use AMCL's filter and do the sensor fusion by raw data. it doesn't really make sense to use an already filtered pose as input.If you already have a map and would like to localize your robot in it, you should use amcl_pose.

you are using AMCL and robot_pose_ekf at the same time they are trying solve the same problem. Using these same ekfs wont improve accurancy. use AMCL's filter and do the sensor fusion by raw data. it doesn't really make sense to use an already filtered pose as input.If you already have a map and would like to localize your robot in it, you should use amcl_pose.amcl_pose. As for the /odom topic, it is subscribed by move_base not for the pose information but for the velocity

you are using AMCL and robot_pose_ekf at the same time they are trying solve the same problem. Using these same ekfs wont improve accurancy. use AMCL's filter and do the sensor fusion by raw data. it doesn't really make sense to use an already filtered pose as input.If you already have a map and would like to localize your robot in it, you should use amcl_pose. As for the /odom topic, it is subscribed by move_base not for the pose information but for the velocity

Using these same ekfs wont improve accurancy. use AMCL's filter and do the sensor fusion by raw data. it doesn't really make sense to use an already filtered pose as input.If you already have a map and would like to localize your robot in it, you should use amcl_pose. As for the /odom topic, it is subscribed by move_base not for the pose information but for the velocity