Ask Your Question

Using 9DOF Sensor Stick EKF

asked 2015-03-26 11:15:08 -0500

bikram.adhikari gravatar image

Hi, I am using a 9DOF Sensor Stick . 9DOF Razor has a dedicated controller to compute orientation whereas I am only getting raw sensor data from 9 DOF Sensor Stick. I am interfacing the 9DOF Sensor stick with an Arduino Mega which also shares its resources interfacing with encoders, motor drive commands and pan-tilt servos. It appears that implementation of DCM or kalman filter on the Arduino is exhausting its resources. Unfortunately, I only have on Arduino. Is it possible use the 9DOF Sensor Stick with raw sensor readings from it? Based on , I expect the answer is NO. Please correct me, if I am wrong. Could you please suggest pointers on how to integrate this sensor stick into robot_pose_ekf?

Thanks in advance, B

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2015-03-26 18:42:08 -0500

You can publish the raw data to ROS and use the AHRS (madgwick's filter) in imu_tools to process the data on the PC side.

edit flag offensive delete link more


Thanks for the reference. I will post once I get the filter working. Thanks again! B

bikram.adhikari gravatar image bikram.adhikari  ( 2015-03-26 22:53:45 -0500 )edit

answered 2015-04-03 00:12:26 -0500

bikram.adhikari gravatar image

I got it to work. Thanks a lot for the reference. B

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2015-03-26 11:15:08 -0500

Seen: 677 times

Last updated: Mar 26 '15