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It sounds like what you are missing is http://wiki.ros.org/robot_pose_ekf package (or perhaps hector_localization or something else similar) that will take imu data and odometry and then generate a map to base_link transform with it.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is http://wiki.ros.org/robot_pose_ekf package (or perhaps hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link transform with it.base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is https://github.com/cra-ros-pkg/robot_localization (or http://wiki.ros.org/robot_pose_ekf package (or perhaps or hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is robot_localization https://github.com/cra-ros-pkg/robot_localization (or http://wiki.ros.org/robot_pose_ekf package or hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is robot_localization https://github.com/cra-ros-pkg/robot_localization (or http://wiki.ros.org/robot_pose_ekf package or hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is robot_localization https://github.com/cra-ros-pkg/robot_localization http://docs.ros.org/lunar/api/robot_localization/html/index.html (or http://wiki.ros.org/robot_pose_ekf or hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)

It sounds like what you are missing is robot_localization http://docs.ros.org/lunar/api/robot_localization/html/index.html (or http://wiki.ros.org/robot_pose_ekf or hector_localization or something else similar) that will take imu data and odometry and then generate a transform that will improve upon a pure odometry based map to base_link.

It is important to have your imu frame in your urdf, the Imu message frame has to match up with the name of the imu frame in the urdf, it will see the imu to base link transform and do the right thing with it.

(I haven't it used it before so corrections to the above are welcome)