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The IMU on the turtlebot is used to help correct for rotational errors in the Create's odometry (it's quite bad). So that really depends on how terrible the 531's rotational component of its odometry is. You should be able to characterize the error by marking a known position on the floor and commanding your roomba to start and end at that marking through the cmd_vel topic.

NOTE: The Create has an ADC onboard to convert the analog signal from the ADXRS613 rate gyro (IMU) used on the turtlebot into a digital signal read from inside the turtlebot_node driver. I'm assuming that the 531 does not have an ADC, so you'd need to buy an off the shelf IMU instead of going through an ADC with a ADXRS613 (unless you felt ambitious and had a arduino handy). Once you had something publishing imu data, you'd then use robot_pose_ekf much in the same way that turtelbot does.

The turtlebot uses an external IMU on the turtlebot is (really its just a gyro), described here. It's used to help correct for rotational errors in the Create's odometry (it's (which are quite bad). So that really depends on how terrible poor the 531's rotational component of its odometry is. You should be able to characterize the error by marking a known position on the floor and commanding your roomba to start and end at that marking through the cmd_vel topic.topic and observing on the odom where the roomba thinks it is.

NOTE: The Create has an ADC onboard to convert the analog signal from the ADXRS613 rate gyro (IMU) used on the turtlebot into a digital signal read from inside the turtlebot_node driver. I'm assuming that the 531 does not have an ADC, so you'd need to buy an off the shelf IMU instead of going through an ADC with a ADXRS613 (unless you felt ambitious and had a arduino handy). Once you had something publishing imu data, you'd then use robot_pose_ekf much in the same way that turtelbot does.

The turtlebot uses an external IMU (really its just a gyro), described here. It's used to help correct for rotational errors in the Create's odometry (which are quite bad). So that really depends on how poor the 531's rotational component of its odometry is. You should be able to characterize the error by marking a known position on the floor and commanding your roomba to start and end at that marking through the cmd_vel topic and observing on the odom topic where the roomba thinks it is.

The Create has an ADC onboard to convert the analog signal from the ADXRS613 rate gyro (IMU) used on the turtlebot into a digital signal read from inside the turtlebot_node driver. I'm assuming that the 531 does not have an ADC, so you'd need to buy an off the shelf IMU instead of going through an ADC with a ADXRS613 (unless you felt ambitious and had a arduino handy). Once you had something publishing imu data, you'd then use robot_pose_ekf much in the same way that turtelbot does.