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How to set yaw offset in robot_pose_ekf/robot_localization?

asked 2017-02-18 13:21:39 -0500

bigboateng gravatar image

updated 2017-02-18 13:22:09 -0500

Hi,

I am planning to use odmetry x,y, yaw as well as imu yaw data in robot_pose_ekf package. Since the imu will start at some yaw value relative to magnetic north? Do I have to programatically set that yaw value as 0 and pass the relative yaw to robot_pose_ekf or will it set the yaw offset itself. Thanks

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Is this question for robot_pose_ekf of robot_localization?

Tom Moore gravatar image Tom Moore  ( 2017-02-21 03:25:39 -0500 )edit

Hi, I I'm trying both packages and I think I'm going to use robot_pose_ekf instead as it just takes in euler angles as input for imu. But I i think you should be able to tell the package that when the program starts, assume its current yaw is 0 degrees/rads so every reading is relative to that.

bigboateng gravatar image bigboateng  ( 2017-02-21 05:04:15 -0500 )edit

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answered 2017-07-20 04:22:14 -0500

Tom Moore gravatar image

For robot_localization, you can set the IMU to relative mode if you want to to start at 0.

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Asked: 2017-02-18 13:21:39 -0500

Seen: 265 times

Last updated: Feb 18 '17