robot_localization navsat_transform yaw offset and phidgets imu
Hi, I am currently using the robot_localization package for the state estimation of my robot. I also have a RTK GPS Device which I would like to include in robot_localization. The problem is that I don't know my yaw offset because I am using a phidgets IMU and I am not including the magnetic field when using the madgwick orientation filter because that causes poor results as the IMU is located close to the motor.
My idea would be to calculate the yaw offset by getting the course over ground from my GPS-Receiver. I would then first start navsat_transform when I calculated the new yaw offset or I would add a service to navsat_transform to set the yaw offset during runtime.
Has any one had similar problems and a good solution?