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ROS Package For IMU Positional Movement?

asked 2016-04-22 01:28:54 -0500

bzhan gravatar image

Is there a ROS package that uses IMU data to determine positional movement (for example, relative to the start location), based on the existing IMU data like acceleration?

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answered 2016-04-22 01:36:56 -0500

You likely can setup a few state estimation packages out there for purely integrating IMU data. robot_localization has the most complete documentation on how to perform a corresponding setup I believe.

Note that unless you have a really expensive IMU (let's say upwards of 10000 US$), this kind purely IMU-based approach will quickly diverge from the true pose of the sensor and will be of limited usefulness.

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I thought that robot_localization would have this implemented as well, but I didn't find anything that gives you the positional movement data from that package--not sure if there is something I missed?

I am working in planar space and fusing with wheel odometer, so hoping it will be more feasible

bzhan gravatar image bzhan  ( 2016-04-22 01:58:52 -0500 )edit

If you configure things according to http://wiki.ros.org/robot_localizatio... the odom message robot_localization puts out should contain pose and velocity information computed from the specified inputs.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-04-22 02:19:56 -0500 )edit

I get no output when I run rostopic echo /odometry/filtered (after launching the package with all possible launch files). I started my IMU with rosrun, and the /imu messages are printing out fine. I am wondering if I did something wrong?

bzhan gravatar image bzhan  ( 2016-04-22 11:37:34 -0500 )edit

Laucnhing all possible launch files is not necessarily the best approach. You should make sure you have one correct launch file and work on getting that :) Have you verified robot_localization actually subscribed to your IMU data?

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2016-04-24 04:20:23 -0500 )edit

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Asked: 2016-04-22 01:28:54 -0500

Seen: 76 times

Last updated: Apr 22 '16