Fusing wheel odom and bno055 imu generates glitch
hello friend, hopefully you can help me or give me some clue about my problem.
My plan is to fuse wheel odometry and BNOO55 imu. I think everything is good. The wheel odometry data is good and im able to do autonomous navigation from it. The imu data is also seems good. But when running robot localization package to fuse the data, i see that something is strange. You can see that the localization in rviz like there is some glitch for sometimes. Trying to figured up whats happen but im just stuck here. Can anyone help please
wheel odom only: wheel odometry only video
wheel odom + imu wheel odom + imu video
yaml configuration: yaml configuration
ekf launch: ekf launch file
Asked by frans on 2023-03-22 06:43:34 UTC
Answers
did you find any solution ..?
Asked by SAMPATH on 2023-03-24 23:56:56 UTC
Comments
I answered the original linked question. When I’ve seen this happen it’s because the yaw value of encoder and IMU Odom start at different values; or inaccurate covariance values
Asked by chased11 on 2023-05-26 17:37:07 UTC
Make sure only your ekf node is broadcasting tf from odom_frame to base_link
Asked by gowtham128 on 2023-05-26 09:05:33 UTC
Comments
i am having the same issue, still can't find the answer, the base_link keep oscillating between encoder odom and robot localization odom https://answers.ros.org/question/415372/base-link-oscillating-between-encoder-odom-and-filtered-odom-from-robot-localization-package/
Asked by gowtham128 on 2023-05-15 06:08:52 UTC