Can robot_localization be used without fusing multiple sources, ie, as a simple filter for odometry alone? I do not need or want to fuse an IMU with odometry, rather I simply want to smooth out the existing odometry.
Although the use-case may seem odd, I have a motion-capture system that gives more-or-less a real-time transform for the robot. However the mocap reported transform jitters a bit, and rarely it will jump in and out of an outlier. I could address this with a moving-average filter (too slow) or another more traditional filter (some might argue Kalman may be overkill) but I'd prefer to use the robot_localization infrastructure. In the future I may have other sensors to fuse and it makes sense to architect this system around RL.
Post score: 2
Comment by Devin on 2016-02-29:
Could you show me your configuration files? I have the same question. But without IMU, it doesn't work.Thanks.