Im checking the hector_localization hector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements and also support barometric pressure sensors. I check the launch which is this one

<?xml version="1.0"?>
  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" />
  <node pkg="rviz" type="rviz" name="hector_pose_estimation_rviz" args="-d $(find hector_pose_estimation)/rviz_cfg/hector_pose_estimation.rviz" />

But can not find the way hot to set up the hector_pose_estimation node and the launch file to get IMU and Pressure (barometer) data as input. Any help?



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