I am using robot_pose_ekf to fuse data from Wheel encoders and IMU to estimate the 3D pose of the robot. Then, I am using amcl to take care of odometry drift and finally the move_base package does the navigation. I am generating the odom message of the type
nav_msgs/Odometry from the wheel encoders which is used by the base_local_planner. I know robot_pose_ekf provides odom_combined to base_link transformation which is used by amcl.
My question is once robot_pose_ekf fuses the data from wheel encoders and IMU and generates the estimated 3D pose of the robot of the type
geometry_msgs/PoseWithCovarianceStamped on the topic
robot_pose_ekf/odom_combined, how and where is this output used in the navigation package as a whole (move_base or amcl)?
Thanks in advance.
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