Robot_localization , Incorrect Odometry from IMU and Odom ekf sensor fusion [closed]

asked 2018-11-11 15:33:11 -0500

jawsqb gravatar image

Hello!

So I am trying to implement sensor fusion from IMU and Odometry Sensors in Simulation. However I am getting odd behavior such as my model is very shaky as well as the odometry saying that the model is falling! In reality the model hasn't moved at all in Gazebo.

I'm thinking this might be an issue with the IMU plugin but I'm not seeing anything overtly wrong with it.

Here are some pictures:

https://imgur.com/a/HvXTC42

And my Code: urdf: https://github.com/ji81930/ros_roboti...

gazebo launch: https://github.com/ji81930/ros_roboti...

ekf launch: https://github.com/ji81930/ros_roboti...

ekf yaml: https://github.com/ji81930/ros_roboti...

Hopefully this is enough information, please let me know your thoughts!

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Closed for the following reason question is not relevant or outdated by Tom Moore
close date 2022-01-25 04:48:53.973232

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Seeing page not found. Please update this question:

  1. Paste your full EKF config/launch in here.
  2. Paste one sample input message from every sensor.

Make sure to use the "code" formatting (the 101 010 button).

Tom Moore gravatar image Tom Moore  ( 2018-11-26 04:01:29 -0500 )edit
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