robot_localization gravity removal
I am using the last version of robot_localization.
I have a 3DM-GX3-5 OEM IMU sensor in my robot. I want to remove the effect of gravity in the EKF.
I have set the parameter in the launchfile so to do that. However, my results are not good because (I suppose) the EKF thinks there is some acceleration in Y axis.
I don't know exactcly how does it work, but I can imagine that the filter use the orientation given by the IMU topic to remove the acceleration due to gravity in the 3 axis. If I am right, the problem might be in the orientation calibration.
Any idea of what can be happening?