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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.
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
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.
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?
Asked: 2016-04-22 01:28:54 -0500
Seen: 315 times
Last updated: Apr 22 '16
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