robot_localization package configuration for LiDAR

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Hi, I am using an ouster LiDAR(OS-16) with an inertial sense providing data for the IMU, INS, and GPS. Can anyone please guide me how I can use the package? I am using the latest package. I have cloned and catkin_make the package and made the following change in the launch file - ekf_template.launch

<launch> <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se" clear_params="true"> <rosparam command="load" file="$(find robot_localization)/params/ekf_template.yaml"/> </node> </launch>

but when I am running rostopic echo /odometry/filtered I am not getting any output.My goal is to fuse the imu with the odometry. The /ins topic provides the position,orientation, and twist data while /imu provides the linear and angular acceleration.

Can anyone please tell me what else I should have to do to use this package?

Thanks