humanoid_localization and IMU

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As I know, the odometry data is transfered from the tf (odom to torso). if no IMU was provided here, humanoid_localization node will get the orientation data from the /tf containing the odometry information.

what occasion do you use humanoid_localization node in ?

Hi Wen Weisong, thanks a lot for your answer. I would like to confirm role of IMU in localization algorithm. 1. If there is no Lidar and odometry data,can IMU alone provide the localization information? 2. If there is no odometry, how IMU is used in localization algorithm?

1. if there is no liar and odometry data, there will be no localization output, anyway, the humanoid_localization ndoe will not start.

2.if there is no imu data, orientation information is acquired from imu which can be checked in the humanoid_localization packages.

Thanks for you answer.