# ROS package EKF fusion for imu and lidar

I have a 3d lidar and an imu both of which give a pose estimate. I need to get a EKF fused pose output combined from both of them.

I couldn't find a ros package which does that. There is ETHZ's ethzasl_sensor_fusion which does it for camera and imu but not for a lidar. Hope someone can direct me to that if there is one. Or can tell me how to do it using some template available.

Also came across robot_localisation (which i guess assumes odometry data comes from wheel encoders). I was wondering if i perform scan matching from lidar data to get an odometry estimate and feed it to this package along with imu data. I guess EKF requires which sensor are we using for computing the kalman gain and other matrices. So theory doesn't support this. But was wondering if this is still practically feasible given that lidar odometry can be assumed to be coming from wheel encoders.