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Fusing IMU XYZ Movement Data With Wheel Odometry?

asked 2016-05-04 16:17:50 -0500

bzhan gravatar image

I saw that the robot_pose_ekf does not use the IMU's accelerometer data to determine linear movement (it only uses the orientation data). Does any package implement a filter that helps fuse the IMU's accelerometer data with the wheel odometry data for more accurate correction of, say, slipping?

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answered 2016-05-04 18:39:14 -0500

spmaniato gravatar image

updated 2016-05-04 18:39:59 -0500

I'm pretty sure robot_localization does ( http://wiki.ros.org/robot_localization )

Also see https://vimeo.com/142624091

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Thanks! That solved my question

bzhan gravatar image bzhan  ( 2016-05-05 17:49:43 -0500 )edit

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Asked: 2016-05-04 16:17:50 -0500

Seen: 229 times

Last updated: May 04 '16