Hello

I am trying to find a suitable localization algorithm which below data can be fused;

• IMU
• GPS
• Wheel Odometry
• PointCloud2 (RGBXYZ from Realsense D435)
• Laser Scan (RPLidar)

I don't have pre-scanned static map so algorithm should run simultaneously. AMCL is not an option in this case I think.

I checked Hector, Rtabmap and some other packages but I couldn't find any package that I can feed all these data. I tried EKF/UKF before but wheel odometry is not working well (probably because of the wheel slip) I am trying to find a way to compansate this. I thought I can use point cloud or laser data to determine my yaw angle (like laserscanmatcher) but I couldn't figure out how can I use all these data together with laserscanmatcher. (Any schematic represantation would be perfect! )

Would you please suggest a suitable package for my scenario?

Thank you!