Issue with removing gravity in robot_localization package
I'm using adafruit bn055 imu board serviced by rtimulib_ros package feeding the robot_localization package. The imu output frame is showing the linear acceleration along the z-axis is around positive 1 when the imu is at rest flat on a level surface. After 60 seconds, the robot_localization /odometry/filtered output is showing the location along z-axis as about the expected negative 17K meters. The parameter imu0_remove_gravitational_acceleration is true in the ekf yaml file. When I change it to false the location along the z-axis changes sign to a positive 17K meters, instead of the expected 0 meters.
Any ideas on how to fix this?
not an expert here, but doesn't
robot_localization(and ROS in general) require SI units to be used here? "positive 1" sounds like your IMU (driver) outputs ings.