robot_pose_ekf, sensor priority
Hello,
I am using robot_pose_ekf for fusing data from encoder and IMU. I was wondering, where at the code I can find the section of actual fusing of data, and if someone is familiar with the process, could you please describe it here how does it happen?
Also, is there a way to specify priority of data source for fusion process? For example, I want to trust more to IMU data then to encoders?
Best regards.