Ask Your Question

Integrating IMU sensor into AMCL package

asked 2017-06-02 02:03:56 -0500

MIN LATT gravatar image

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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2017-06-02 09:48:19 -0500

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).

edit flag offensive delete link more


Thanks for your answer.

MIN LATT gravatar image MIN LATT  ( 2017-06-05 01:33:08 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2017-06-02 02:03:56 -0500

Seen: 446 times

Last updated: Jun 02 '17