Hi! I am using the ROS navigation stack with my robot. I have odometry information from the wheel encoders, and a laser range finder. I am currently using AMCL to account for odometry drift. I was wondering if it is benefitial to use an Extended Kalman Filter (EKF node) that takes in information from the wheel odometry and publishes out "odometry_filtered" which I send to AMCL and the move_base node? The odometry isn't that good with just AMCL. The robot turns left and right a lot since AMCL corrects its pose because of the odometry drift.
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