# How to customize robot_localization

I'm using robot_localization package offered by ROS community. I've read over the relevant documents and code. I want to customize it based on the package .Here's my question:

1.If I have one odom and one imu as data source, then only odom0 & imu0 are needed, can I just delete contents about odom1,pose0 and twist0 ?

2.I enable X,Yaw,Vx,Yawrate in odom0_config and Yawrate,Ax in imu0_config. I should set the covariance of these variables mentioned before properly,what about the rest of covariances(including Q and P) whose variables being disabled? Maybe set them to small value (eg.1e-6)?

3.If I want to operate in 2D mode, I need to enable two_d_mode. Should I adjust the transfer function matrix to 2D mode?

4.If I want to adopt the robot_localization. I need to modify the document named ekf_template.yaml, making some change on covariance matrices and deleting some unused contents.Also, I need to modify the transfer function and transfer function Jacobian matrices or say,just simplify it. Is that so?

5.Is the coordinates used in transfer function right-handed coordinate system with X pointing forward ?

I do appreciate it if someone can enlighten it to me.

1.All I need to modify are ekf_template.yaml and transfer function matrix in ekf.cpp, is that so? 2.What should I do with those covariances(both P and Q) of unfused variables,setting it to a small value(eg.1e-12) or inflate it to large value (eg.1e3)?

3.Is transfer function matrix in ekf.cpp using right-handed coordinate system affixed to the robot with X axis pointing forward?