asked 2012-03-23 16:40:31 -0500PedroS.
Hi, if anyone could help i'd be grateful. I chose that topic, but if anyone knows about any other package/stack that could solve my problem, shoot!. :D
I am looking for a package that estimates a robot's position over time, using only the information of an IMU.(if there is one...)
I probably found one(hector_localization) that can solve my problem, however I cant make it work. It compiled without any problem, I changed the subscribed topic to have the same name as the one published by my lse_xsens. I can get the orientations but not the position. I dont know if it needs the information of gps or any other sensor to work. I found no information explaining how to use, so I'd appreciate any help I can get. Thanks.
answered 2012-03-24 11:39:36 -0500dornhege
In the case of IMU only hector_localization and in fact all localization algorithms aren't applicable. The only thing you can do is integrate information from the IMU depending on what kind of information you get.
For the xsens that means integrating the xyz accelerations and gyros. Expect high drift, very quickly, though.
Hi, I am the author of hector_localization. As Christian already mentioned, hector_localization cannot give you velocity or position information from pure IMU measurements only. In fact, it only estimates the pose and twist components that are observable from the measurements you have and fixes the rest. You can check (and publish if you want) the current status information using the PoseEstimation::getSystemStatus() method.
Documentation for hector_localization is still missing and we plan to add some more features within the next weeks before announcing the stack and consider it as more or less stable. However, we already are using it successfully to estimate the pose of our Hector rescue robot and the Hector quadrotor by fusing IMU, compass, barometer, GPS and pose updates from the hector_slam stack.
Asked: 2012-03-23 16:40:31 -0500
Seen: 350 times
Last updated: Apr 02 '12