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ROS Package to filter raw IMU data (Linear Acceleration/Angular Velocity/Magnetic Orientation)

asked 2014-10-11 03:02:59 -0500

alainh
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I'm going through the ROS packages for a generic package that will take raw IMU 9DOF readings and perhaps use a Kalman filter to fuse data from the Accelerometer, Gyroscope, and Magnometer. So far I've only found the imu_filter_madgwick package. However, it has been difficult to install with catkin. As a newbie to the ROS system I found this surprising.

Is there a generic solution for IMU filtering in ROS?

Thank you in advance. I would appreciate any guidance in this matter.

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answered 2014-10-11 03:14:11 -0500

tonybaltovski

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Are you using the hydro branch? It works fine with catkin.

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You're absolutely right. I forgot to switch branches. Thank you! To continue the discussion, however, is this the only raw data IMU solution?

alainh ( 2014-10-11 03:44:40 -0500 )edit

robot_localization uses the IMU data in an EKF.

tonybaltovski ( 2014-10-11 04:09:11 -0500 )edit

Follow up: While I got most of the package dependencies to build, it trips up on the boost library from tf with errors. I made a separate question found here: http://answers.ros.org/question/19485...

alainh ( 2014-10-24 23:59:44 -0500 )edit

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Asked: 2014-10-11 03:02:59 -0500

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Last updated: Oct 11 '14

ROS Package to filter raw IMU data (Linear Acceleration/Angular Velocity/Magnetic Orientation) edit

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ROS Package to filter raw IMU data (Linear Acceleration/Angular Velocity/Magnetic Orientation)