Best way to visualize IMU

Hello,

I'm currently creating an EKF based on VO (visual odometry), IMU and GPS and the result is quite bad. I Would like to understand more in depth why. In this context, I would like to see if the IMU is correctly configured and if the data it sends are correct. What is the best way to do so ?

Thanks in advance.

Asked by vanmalleghema on 2023-02-03 03:32:47 UTC

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Answers

using rviz is the best way.

Asked by Davies Ogunsina on 2023-02-04 15:55:04 UTC

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I support @Davies Ogunsina suggestion, use RViz with this rviz_imu_plugin to display it (both ROS1 and ROS2 are possible).

Asked by ljaniec on 2023-02-04 16:21:59 UTC

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To just see the IMU frame, you can use the IMU plugin in Rviz. Or rostopic echo imu/data to see the raw data.

BUT I see you are using GPS, which from my experience is pretty tough to have working together in an EKF. Test just VO and IMU together, get that working correctly, then try to add GPS. Also, look into the use of dual ekf when fusing GPS data in an EKF.

Keep in mind your IMU needs to have it's orientation absolute to earth, or 0 facing east for it to work correctly in navsat_transform_node.

Asked by chased11 on 2023-02-04 16:23:08 UTC