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what configurations should i consider in ekf_localization_node when using IMU and an ultrasonic sensor??

asked 2018-07-25 01:13:04 -0500

Mohamed Badra gravatar image

Good day everyone, now I'm working on a quadcopter project and I'm using IMU(gy-801) and also an ultrasonic sensor for getting the z-axis ,I have used the accelerometer and the gyroscope data to make the imu_msg and i've visualized this msg using rviz and it works very well then i have put the ultrasonic data and the heading angle in an odometry_msg,then i used this two messages in ekf_localization_node to get the pose and twist but the /odometry_filterd message that is published from that node doesn't give real data and the pose always increases fast although the quadcopter doesn't move. so am i working wrong or is there any configurations that i should consider?? thank you in advance

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so what sensor do you suggest for a quadcopter odometry?

Mohamed Badra gravatar image Mohamed Badra  ( 2018-07-25 07:17:31 -0500 )edit

I've seen a lot of people who use visual odometry. If you search google for "ros visual odometry" you'll find lots of examples.

stevejp gravatar image stevejp  ( 2018-07-25 07:29:15 -0500 )edit

thank you very much

Mohamed Badra gravatar image Mohamed Badra  ( 2018-07-25 07:35:40 -0500 )edit

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answered 2018-07-25 07:08:11 -0500

stevejp gravatar image

If you're feeding noisy acceleration measurements into an EKF without a source of position odometry your position estimate is going to explode. You can do some searching for people who have tried using r_l with just an IMU, but from what I've seen the consensus is that the results won't be great.

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Asked: 2018-07-25 01:13:04 -0500

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Last updated: Jul 25 '18