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I'm not sure I totally get what it is that you're asking, but I'd do this:

Wheel encoders: fuse X velocity, Y velocity, and yaw velocity IMU: fuse the yaw velocity only

That configuration won't help you if the robot hits something and the wheels spin, however. Even including the linear acceleration from the IMU won't really help in this case, at least not much.

By the way, I think your IMU is reporting gs, rather than m/s^2. I note that your Z acceleration is given as 1, instead of 9.81.

I'm not sure I totally get what it is that you're asking, but I'd do this:

Wheel encoders: fuse X velocity, Y velocity, and yaw velocity velocity

IMU: fuse the yaw velocity only

That configuration won't help you if the robot hits something and the wheels spin, however. Even including the linear acceleration from the IMU won't really help in this case, at least not much.

By the way, I think your IMU is reporting gs, rather than m/s^2. I note that your Z acceleration is given as 1, instead of 9.81.

I'm not sure I totally get what it is that you're asking, but I'd do this:

Wheel encoders: encoders: fuse X velocity, Y velocity, and yaw velocity

IMU: IMU: fuse the yaw velocity only

That configuration won't help you if the robot hits something and the wheels spin, however. Even including the linear acceleration from the IMU won't really help in this case, at least not much.

By the way, I think your IMU is reporting gs, rather than m/s^2. I note that your Z acceleration is given as 1, instead of 9.81.