Tracking a glove using robot_localization package.
I would like to track a glove that has an imu attached. Using another method, such as a fully convoluted network working with an rgbd camera, occasional reliable estimates of the gloves position in 3d can be made. The imu would be used to fill in the gaps between the more accurate estimates. So, I'm wondering how to configure the robot_localization package to do this.
Can the occasional good estimate of the position come in to the package's ekf node via an odom message? Or does this node require a more regular position like a normal message from a wheel odometer source?
Or, should the occasional good estimate of position go to the navsat node provided by the robot_localization package which handles occasional position updates like a gps would provide. The navsat node then feeds ekf filter node via odom messages. Are these odom messages from the navsat node continuous, or do you get just one for each occasional good position estimate.
Another issue to think about is since the hand can move freely in 3d space, the orientation of the imu will not be a clue to its heading. However, the imu linear acceleration values will indicate the heading. Can the ekf node use these values directly to deduce heading, or does heading need to be calculated before feeding the ekf node?
Thanks for any thoughts on this.