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Do you have access to the wheel encoders? If yes, I would propose using the robot_pose_ekf package.
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Do you have access to the wheel encoders? If yes, I would propose using the robot_pose_ekf package.
Edit in reply to comment: The EKF's job is to fuse several independent sources of information, in this case wheel odometry and IMU data. Since you only have IMU data, there is nothing to fuse; using the laser_scan_matcher, as you seem to be doing, is probably your best hope. Still, as @Claudio writes, you're in for a rough ride without wheel odometry.
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