humanoid_localization and IMU

asked 2017-06-01 22:47:57 -0500

MIN LATT gravatar image

Hi all, Does anyone know how IMU and odometry data are fused in humanoid_localization package? What is the role of IMU in localization estimation?

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As I know, the odometry data is transfered from the tf (odom to torso). if no IMU was provided here, humanoid_localization node will get the orientation data from the /tf containing the odometry information.

what occasion do you use humanoid_localization node in ?

Wen Weisong gravatar imageWen Weisong ( 2017-06-02 04:02:49 -0500 )edit

Hi Wen Weisong, thanks a lot for your answer. I would like to confirm role of IMU in localization algorithm. 1. If there is no Lidar and odometry data,can IMU alone provide the localization information? 2. If there is no odometry, how IMU is used in localization algorithm?

MIN LATT gravatar imageMIN LATT ( 2017-06-02 04:49:41 -0500 )edit
  1. if there is no liar and odometry data, there will be no localization output, anyway, the humanoid_localization ndoe will not start.

2.if there is no imu data, orientation information is acquired from imu which can be checked in the humanoid_localization packages.

Wen Weisong gravatar imageWen Weisong ( 2017-06-03 06:12:09 -0500 )edit

Thanks for you answer.

MIN LATT gravatar imageMIN LATT ( 2017-06-09 02:19:27 -0500 )edit