How to cancel out roll and pitch in IMU?

asked 2019-01-21 07:14:20 -0600

stevemartin
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updated 2019-01-21 07:14:57 -0600

I bought a quite decent IMU called Bosch BN055. It is a 9-DOF IMU. The thing is, I have a differential drive robot and runs on a flat surface, which means I do not need roll and pitch, only YAW.

I am using robot_localization to fuse odometry vx,vy and IMU roll, pitch and yaw. My robot sometimes creates a vibration which causes my IMU to drift and making my robot to spin and roll.

I have tried to fuse robot_localization with only YAW values but after some time, ROS will throw an error stating that the combined quaternion value should equal to 1 and I get it, as I making roll and pitch to be 0, when IMU thinks it has been rotated in those directions, the YAW values become different.

How can I cope with that?

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do you convert yaw in quarternian by yourself or using tf?(if you convert by yourself can you share your code)

Hamid Didari ( 2019-01-21 07:42:42 -0600 )edit

@hamid I am using library which you can find here: LINK

stevemartin ( 2019-01-21 07:56:08 -0600 )edit

that code doesn't convert eurl angle to quarternian if i realize correctly you set imu_msg.orientation.x and imu_msg.orientation.y to zero and publish the msg?am i right?

Hamid Didari ( 2019-01-21 08:09:12 -0600 )edit

@hamid the libary publishes imu msg to /imu. Yes, I did that before but after sometime that will give me an error as quaternion should add up to 1

stevemartin ( 2019-01-21 08:50:44 -0600 )edit

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float yaw; tf::Quaternion robot_imu; robot_imu.setX(msg->orientation.x); robot_imu.setY(msg->orientation.y); robot_imu.setZ(msg->orientation.z); robot_imu.setW(msg->orientation.w); yaw_ = tf::getYaw(robot_imu); tf::Quaternion yaw(tf::createQuaternionFromYaw(yaw_));

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@hamid okay that makes sense, so in yaw format, I would just cancel out roll and pitch and keep only way and convert back to Q

stevemartin ( 2019-01-22 03:54:59 -0600 )edit

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How to cancel out roll and pitch in IMU?

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How to cancel out roll and pitch in IMU?