UM7 external IMU integration with robot_localization

asked 2019-02-20 05:02:11 -0500

B Dhruva
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Hello All, I am working with Jackal robot from clearpath and I have brought new IMU (UM7 from redshift labs). I have few queries related to it: 1) Internal Jackal IMU publish data on topic “/imu/data” and my new external IMU also publish data on same topic name “/imu/data/”. How can ROS differentiate between both the data?

2) I want to integrate this new UM7 IMU with robot_localization .Can you let me know which all files would be effected and where I would have to make the changes to consider the data from new IMU instead of internal IMU.

answered 2019-02-20 14:56:42 -0500

stevemacenski

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You can remap the topics through your launch file via the remap tag in roslaunch xml. That should solve problem 1

Problem 2 involves essentially copy pasting your imu0 configs and making an imu1 config with the new updated topic (and other things if you need to).

Note: if you have 2 IMUs being fused, make sure at least one of them is on differential mode

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For Problem 2: you mean to say to make changes in robot_localization.yaml file? imu0 configs where can I find exactly? Sorry for asking silly questions I am new to ros.

B Dhruva ( 2019-02-26 09:48:25 -0500 )edit

Yes, the robot_localization.yaml file where you have the existing IMU located. If you want to use both, just copy that config, rename as imu1_* and use the channels you find appropriate, reference the configuration guide for details on their meanings.

stevemacenski ( 2019-02-27 16:43:52 -0500 )edit

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