Revision history [back]

Hi, I am the author of hector_localization. As Christian already mentioned, hector_localization cannot give you velocity or position information from pure IMU measurements only. In fact, it only estimates the pose and twist components that are observable from the measurements you have and fixes the rest. You can check (and publish if you want) the current status information using the PoseEstimation::getSystemStatus() method.

Documentation for hector_localization is still missing and we plan to add some more features within the next weeks before announcing the stack and consider it as more or less stable. However, we already are using it successfully to estimate the pose of our Hector rescue robot and the Hector quadrotor by fusing IMU, compass, barometer, GPS and pose updates from the hector_slam stack.