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Integrating IMU sensor into AMCL package

asked 2017-06-02 02:03:56 -0600

MIN LATT
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Hi all, Is it possible to fuse IMU sensor information into AMCL package? if possible, could you please give some suggestions for implementation?

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answered 2017-06-02 09:48:19 -0600

jarvisschultz

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The most common way that people do this is to use either robot_pose_ekf or robot_localization (more common these days) to fuse together the IMU and odometry data, and publish the fused result as a new tf frame. Then you can specify the ~odom_frame_id in amcl to be this new filtered frame (usually called /odom_combined with robot_pose_ekf and /odom_filt for robot_localization).

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Thanks for your answer.

MIN LATT ( 2017-06-05 01:33:08 -0600 )edit

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Asked: 2017-06-02 02:03:56 -0600

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Last updated: Jun 02 '17

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Integrating IMU sensor into AMCL package