Hi

I have implemented an EKF based on the robotposeekf stack. By doing this, I've fused the pose information of the odometry, IMU and GPS.

But my sensors give me also info about the velocity, so now I'd like to fuse also this info, but I'm not sure how to proceed. I 've thought about it and I have three options. In order of preference:

1) Modify the code of the robotposeekf stack and add the velocity information. I'm not sure if that's factible. I've looked the code and seems that it only works with poses, but I'm not sure.

2) Implement a new EKF not based on the robotposeekf

3) Simply derivate the EKF position (I think I'm going to have poor results with this option).

Now, my questions are: ¿Is the first option achievable? If so, how can I get it? Am I going to loose too much information if I do the third option?

Any advice?

Thanks in advance!

I'm on ROS Fuerte and Ubuntu 12.04