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Using 9DOF Sensor Stick EKF

asked 2015-03-26 11:15:08 -0600

bikram.adhikari gravatar image

Hi, I am using a 9DOF Sensor Stick https://www.sparkfun.com/products/10724 . 9DOF Razor https://www.sparkfun.com/products/10736 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 http://answers.ros.org/question/9429/... , 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

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answered 2015-03-26 18:42:08 -0600

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.

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

bikram.adhikari gravatar imagebikram.adhikari ( 2015-03-26 22:53:45 -0600 )edit
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answered 2015-04-03 00:12:26 -0600

bikram.adhikari gravatar image

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

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Asked: 2015-03-26 11:15:08 -0600

Seen: 637 times

Last updated: Mar 26 '15