GPS + IMU + odometry robot_localization demo

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Hi! (specially Tom Moore)

I'm setting up a demo on robot localization, something very similar to what was presented in ROSCon 2015, showing GPS + IMU + Odometry, and show how the map frame jumps and the odom frame is continuous.

I would like to use this demo to then modify the different model and sensor covariances to understand how they change the filtered output, however I don't have access to hardware to record a bagfile with the data as it should.

Tom, do you happen to still have the bagfile you used for the 2015 demo? (and the launchfiles ideally)

Somebody else has a dataset that could be used? I looked for the tests bagfiles in the robot_localization package, but they don't include GPS information.

Thanks!