ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
1

IMU covariance matrix for imu_filter_madgwick

asked 2015-09-24 21:35:21 -0500

Naman gravatar image

updated 2015-10-28 16:22:03 -0500

Hi all,

I am using phidgets 3/3/3 IMU and is feeding it to the kalman filter (robot_pose_ekf or robot_localization) along with the odometry data from the wheel encoders. I am using phidgets_imu and imu_filter_madgwick to get the sensor_msgs/Imu message on imu/data topic. Currently, I am specifying the covariance matrix for the odometry message and I want to specify the covariance matrix for the sensor_msgs/Imu also. What is the best way to do it? When I do rostopic echo imu/data, the orientation covariance is a 0 matrix, therefore i want to specify a non-zero values for the covariance matrix for the IMU orientation.

Update:

I tried changing the ~orientation_stddev parameter but it did not have any effect and when I do rostopic echo imu/data, the orientation covariance is still a 0 matrix. When I looked at the source code, imu_filter.cpp, orientation_stddev is not being used anywhere. All other parameters are there and are being used except orientation_stddev. Also, I am using phidgets_imu to get the raw data from the IMU and in it, I can specify ~angular_velocity_stdev and ~linear_acceleration_stdev and it provides proper covariance matrix for angular velocity and linear acceleration but when I change orientation_stddev in imu_filter_madgwick, nothing happens. Am I missing something? Can someone tell me how can I specify the orientation covariance for the IMU?

Thanks in advance.
Naman Kumar

edit retag flag offensive close merge delete

Comments

Looking at this line and this line, it looks like you may need to use dynamic_reconfigure.

Tom Moore gravatar image Tom Moore  ( 2015-11-10 11:28:29 -0500 )edit

what value did you end up using for orientation_stddev

JadTawil gravatar image JadTawil  ( 2017-10-07 12:33:22 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
3

answered 2015-09-25 07:56:59 -0500

Tom Moore gravatar image

Looking at the wiki and source code, it looks like you can use the ~orientation_stddev parameter.

edit flag offensive delete link more

Question Tools

2 followers

Stats

Asked: 2015-09-24 21:35:21 -0500

Seen: 2,254 times

Last updated: Oct 28 '15