Integrating IMU sensor into AMCL package
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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Hi all, Is it possible to fuse IMU sensor information into AMCL package? if possible, could you please give some suggestions for implementation?
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).
Asked: 2017-06-02 02:03:56 -0500
Seen: 641 times
Last updated: Jun 02 '17