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In our setup, we only use the twist from the odometry, since the EKF will take care of the integration of the measurements. This is the part of the imu and the visual odometer in our yaml file.

twist1: /sensors/vo
twist1_differential: false
twist1_relative: false
twist1_queue_size: 10
twist1_config: [false, false, false,
                false, false, false,
                true, true, true,
                true, true, true,
                false, false, false]
imu0: /sensors/imu
imu0_differential: false
imu0_relative: false
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]