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1 | initial version |
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 g
s, rather than m/s^2
. I note that your Z acceleration is given as 1, instead of 9.81.
2 | No.2 Revision |
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 g
s, rather than m/s^2
. I note that your Z acceleration is given as 1, instead of 9.81.
3 | No.3 Revision |
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 g
s, rather than m/s^2
. I note that your Z acceleration is given as 1, instead of 9.81.