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Can I use robot_localization package with only imu data? If I could,how to config the package?

asked 2016-04-25 03:51:22 -0600

Nico.Zhou gravatar image

I want to fuse IMU and GPS data with robot_localization package used in an autonomous car, but there will have some time that I can't obtain the GPS data and IMU is the only source I can get to calculate position. I have a high precise IMU,but the error is huge when I use robot_localization without gps, so my question is can I use robot_localization package with only imu data.If I could,how to config the package correctly? Here is my launch file:

  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu_link" />
  <node pkg="tf2_ros" type="static_transform_publisher" name="bl_gps" args="0 0 0 0 0 0 1 imu_link gps_link"/>
  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization_global" clear_params="true">
    <param name="frequency" value="30"/>
    <param name="sensor_timeout" value="2"/>
    <!--param name="map_frame" value="map"/-->
    <param name="odom_frame" value="odom"/>
    <param name="base_link_frame" value=" base_link"/>
    <param name="world_frame" value="odom"/>
    <param name="imu0" value="/imuData"/>
    <rosparam param="imu0_config">[false, false, false,
                                   true,  true,  true,
                                   false, false, false,
                                   true, true, true,
                                   true,  true,  true]</rosparam>
    <param name="imu0_differential" value="true"/>
    <param name="imu0_remove_gravitational_acceleration" value="true"/>
    <param name="two_d_mode" value="true"/>
    <param name="odom0" value="/odometry/gps"/>
    <rosparam param="odom0_config">[true,  true,  true,
                                   false, false, false,
                                   false, false, false,
                                   false, false, false,
                                   false, false, false]</rosparam>
  <node pkg="robot_localization" type="navsat_transform_node"
      name="navsat_transform_node"  respawn="true" output="screen">
    <param name="magnetic_declination_radians" value="0.157"/>
    <param name="yaw_offset" value="1.570796327"/>
    <remap from="/imu/data" to="/imuData"/>
    <remap from="/gps/fix" to="/gpsData"/>
  <node pkg="rviz" type="rviz" name="rviz_imu_gps_fuse" output="screen" args="-d $(find robot_localization)/robot_localization.rviz"/>
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Thanks to your post I have a better clarity on creating the launch file. I could not find the robot_localization.rviz file in the robot_localization repository. Can you guide me as to how to create this file?

Subodh Malgonde gravatar image Subodh Malgonde  ( 2018-07-25 04:54:31 -0600 )edit

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answered 2016-05-09 19:55:13 -0600

Tom Moore gravatar image

You can use it with just an IMU, yes, but until I add bias correction, I wouldn't expect great results. Even after bias correction has been added, I wouldn't want to have only an IMU for pose estimation. Double integration of linear acceleration is going to lead to drift.

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Thanks for your answer Tom, I'm think about fuse visual odometry, hope I can get good result.

Nico.Zhou gravatar image Nico.Zhou  ( 2016-05-16 02:00:52 -0600 )edit

Hello. I just started using the robot localization package only with an IMU. I am using the the launch file Nico provided but I am getting zeros both in position and linear twist (on /odometry/filtered). Any ideas about what I am doing wrong? Is the navsat node necessary? Thank you for your time.

SprGrf gravatar image SprGrf  ( 2016-09-01 04:04:13 -0600 )edit

@SprGrf I am trying to do the same thing, IMU only navigation. Were you able to figure this out?

vik748 gravatar image vik748  ( 2018-01-29 21:42:28 -0600 )edit

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Asked: 2016-04-25 03:51:22 -0600

Seen: 1,546 times

Last updated: May 09 '16