The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
in order to solve this I activated the laser odometry of hector map, and used the madgwick filter for IMU. If someone is trying to do something similar the first thing to do is to read this entire guide: http://docs.ros.org/jade/api/robot_localization/html/state_estimation_nodes.html
Theres thing you should pay attention like, if your odometry data has linear velocity and position, you should fuse the linear position. If you have two or more sensors with the same data you should fuse the most reliable one or activate the differential mode. Robot localization considers an IMU with a common position so check if your acceleration in Z is 9.81 and not -9.81.. Turn the robot counterclock wise and check if the yaw increases and the angular velocity is positive...
After all of this, I'm going to leave here my localization.yaml file, and the launch for hector map and um7 IMU.
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.
