According to ROS wiki:
"amcl takes in a laser-based map, laser scans, and transform messages, and outputs pose estimates."
"The Robot Pose EKF package is used to estimate the 3D pose of a robot, based on (partial) pose measurements coming from different sources. It uses an extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor and visual odometry."
What I understand from the descriptions of these two localization algorithms is that amcl only works with laser data and ekf works only with odometry sources (wheel encoder, IMU, visual odometry). Is this a correct interpretation?
and how can I switch between amcl and ekf in the navigation stack?
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