Fusing IMU data with GPS navsat: map frame drifting [robot_localization_package]

asked 2019-03-15 05:43:57 -0500

Bruno_S gravatar image

updated 2019-03-18 11:20:33 -0500

Hi, I am creating a global configuration file to obtain global position using GPS and IMU data.

odom0: /odometry/gps odom0_config: [true,  true,  false,
                 false, false, false,
                 false, false, false,
                 false, false, false,
                 false, false, false] odom0_queue_size: 1 odom0_nodelay: true odom0_differential: false odom0_relative: false

imu0: /imu/data imu0_config: [false, false, false,
                true  true,  true,
                false, false, false,
                false,  false,  false,
                false,  true,  false] imu0_nodelay: false imu0_differential: false imu0_relative: false imu0_queue_size: 3 imu0_remove_gravitational_acceleration: true

use_control: false

And for some reason map frame is drifting around instead of being fix. Any suggestions? thanks, Bruno PS: I dont have wheel odometry

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Comments

Can you be a bit more specific? GPS is known to high jitter (up to 100m), but it should not drift.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2019-03-18 13:16:25 -0500 )edit
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