From 7ced18fc5533da231405197db3c783f8e3a5e171 Mon Sep 17 00:00:00 2001
From: Jay Parikh <jayparikh.blue@gmail.com>
Date: Wed, 15 Nov 2023 09:13:19 -0500
Subject: [PATCH] Fix when only IMU active and gps is not active

---
 src/odom_estimation_node.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/odom_estimation_node.cpp b/src/odom_estimation_node.cpp
index dc9eb90..ff47f49 100644
--- a/src/odom_estimation_node.cpp
+++ b/src/odom_estimation_node.cpp
@@ -487,6 +487,10 @@ namespace estimation
         my_filter_.initialize(vo_meas_, vo_stamp_);
         ROS_INFO("Kalman filter initialized with vo measurement");
       }
+      else if ( imu_active_ && !gps_used_ && !my_filter_.isInitialized()){
+        my_filter_.initialize(imu_meas_, imu_stamp_);
+        ROS_INFO("Kalman filter initialized with imu measurement");
+      }
     }
   };