Localization, using robot_localization and robot_pose_ekf
1) What is the difference between robot_pose_ekf (package) and robot_localization. I have encoder odometry, lidar scan and imu sensor data.... How can we combine these sensor to get better localization and navigation. How can we do sensor fusion
2) When we navigate our robot in map, what rviz or move_base use to localize robot position in map. Frames ( odom_frame etc) or amcl_pose topic.
For example , in order to calculate a distance between a robot and a point in map, what we will use ? amcl_pose or odom_frame?
trans = self.listener.lookupTransform(self.odom_frame_id,self.base_frame_id, now)
distance = math.sqrt(pow(waypoint.pose.pose.position.x-trans[0],2)+pow(waypoint.pose.pose.position.y-trans[1],2))
or we will calculate this distance with subciring the amcl_pose