Merging IMU +Wheel Encoder Data for Navigation Stack

asked 2018-06-08 16:23:58 -0600

Mekateng gravatar image

updated 2018-06-08 16:35:19 -0600

ahendrix gravatar image

Hi, I want to do the navigation on the mobile robot. For this, Firstly, I have to merge wheel encoder data and IMU data. But I don't know how to do it in the real project. Is there any code about wheel encoder data and Imu data for localization. Could you please help me this situation. Is there any python or Arduino code about this? Thanks in advance. dc motor with encoder: https://www.pololu.com/product/1575 Imu: BNO055

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Are you asking about to get the data into the PC or how to use the data once it's in ROS? Are you already able to read the IMU data into the PC?

billy gravatar imagebilly ( 2018-06-08 16:49:23 -0600 )edit

No. I don't know how to read these. I mean, ı am asking how to read ımu data and wheel encoder data for navigation and how to merge these data?

Mekateng gravatar imageMekateng ( 2018-06-08 19:47:01 -0600 )edit

For BNO055, look up in the Arduino community as I think there is an Arduino driver for that part. There is also a way to get the encoder data using an Arduino so leverage that community. There is a way to connect arduino to ROS. http://wiki.ros.org/rosserial_arduino...

billy gravatar imagebilly ( 2018-06-08 22:51:53 -0600 )edit

Instructions for IMU: https://learn.adafruit.com/adafruit-b... Instructions for encoder: https://www.robogaia.com/two-axis-enc... Once you have the HW working, spend time on ROS tutorials.

billy gravatar imagebilly ( 2018-06-08 23:00:51 -0600 )edit

Hi Mr. @billy I can read IMU data and I can read wheel encoder data. Now, I want to merge these. How can ı do that ?

Mekateng gravatar imageMekateng ( 2018-06-10 04:41:09 -0600 )edit

ROS Tutorials will tell you how. You should start with navigation stack tutorials, then look into this: http://docs.ros.org/kinetic/api/robot...

billy gravatar imagebilly ( 2018-06-11 00:57:45 -0600 )edit