IMU + Markers kalman filter
Hi. In my robot I have two types of localization: Intertial and localization based on 2D markers. For my IMU I use this package: https://github.com/piappl/KVH_CG5100_IMU . I wrote my own localization based on 2D markers using chili software http://chili.epfl.ch/software . Now I'm trying to apply Kalman filter to combine these two measurements: IMU data and a robot's position on a local map (2D markers map). I found robot_pose_ekf package, but I don't know how to use it well. My robot's position is floating when robot isn't moving. I think that it might be caused by noises coming from localization based on 2D markers. Should it float when IMU isn't moving? I don't understand it. Robot_pose_ekf subscribes visual odometry. Can I send on visual odometry topic my position on local/global map? Thanks.
If you have velocity from IMU try to publish 2d Odometry from velocities. ros odom setup
probably because of IMU, you should output its data to see whether that is drifting significantly enough that it was primary cause of the drift; I calibrated mine using the husky_robot code (here it is for reference) https://github.com/brianzhan/husky_ro...