Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

The error increases because of the covariance matrix. You need to calibrate the covariance matrix of linear acceleration to suit the error generated by IMU. What happens when you give small values in Covariance matrix is that robot_localization thinks that your IMU is very accurate and thus the error piles up to become non-decreasing.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.