Can robot_localization fuse raw gyro/accel data with odometry ?
I have a robot set up with accelerometer/gyroscope sensors and wheel encoder-based odometry. The inertial sensors provide linear accelerations and angular velocities only - i.e. they are not being used to generate a quaternion estimate. I have been trying to correct the quaternion estimate produced by the wheel odometry since it is subject to slippage. However, my experiments seem to indicate that in order for the robot_localization to correct the odometry orientation estimate, the IMU must provide an orientation. Have I understood the robot_localization package correctly??