Fusing wheel with IMU using robot_localization - No effect on linear motion
Hello,
I am trying to use the robot_localization package using IMU BNO055 and wheel encoders.
Now the thing is when i block the robot when it is moving, inducing slip, the robot reports being moved ahead. I assume the localization isin't fusing the IMU velocities.
I did alot of playing around from ROS Answers i found, but having no luck.
In the parameters below I have setup the yaw from the IMU only as it is absolute.
Am I having wrong expectation from this ?
Here is my parameter file:
frequency: 50
two_d_mode: true
odom0: odom_raw
odom0_config: [false, false, false,
false, false, false,
true, true, false,
false, false, false,
false, false, false]
odom0_differential: false
odom0_relative: false
odom0_queue_size: 10
imu0: /imu/data
imu0_config: [false, false, false,
false, false, true,
false, false, false,
true, true, true,
true, true, true]
imu0_differential: true
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
odom_frame: odom
base_link_frame: base_link
world_frame: odom