Hi alll,
Ivan, with respect to your comment about a way to automatically merge multiple uncertain sources was thought about for integration into tf, it was chosen to explicitly seperate that capability out of tf. For although tf could relatively easily apply a naive averaging filter, the parts of robot_pose_ekf such as zeroing the height of the robot. This is application specific knowledge which can greatly improve performance of the system and finding a way to make tf be able to handle every intricacy of every application would make it way too complicated. Instead you can just do the application specific work separately and publish the result into the tf structure. If you want a more generic filter than the robot_pose_ekf you could file a feature request ticket with what features you would specifically want.
Thanks for the feedback and comments,
Tully