Is it possible to Fuse IMU and Pressure (barometer) data?

[astronaut71]

Hi I would like to have 6x6 estimated Velocity matrices( linear and angular) from the IMU and Pressure sensor data. IMU is 9 DOF ( orientation, angular_velocity and linear_acceleration) and the Pressure. Barometer(pressure sensor data) can be use for the underwater robot as assume the sea (water ) level is same(constant) and the pressure suppose to maintain same value my linear movement of the underwater robot (vehicle). Is it possible to use this package to fuse this IMU and Pressure data to obtain estimated Velocity (linear and angular)?

Thanks

[gzc1021]

Hello，Have you tried fuse IMU and Pressure by msf? Did you succeed?