Radar cloud point diagram circle
HI I am a newcomer to ros. I am from China. My English is very poor. If there are some grammar problems below, or if I use ros answer incorrectly, please understand and propose that I will correct it. At present, I am doing an obstacle avoidance car. I use the IMU and the radar odometer to integrate ekf to locate, and also use the amcl algorithm to locate the car. I have several problems now:
- I filter my IMU data by imu_filter_madgwick. The data from IMU is /imu_data and /imu/mag. I map the /imu_data data to /imu/data_raw, then to imu_filter_madgwick node, and finally at /imu /data gives ekf other parameters are the default parameters, however, I found that my radar cloud point map will have a tendency to deflect to the left. When I turn the car to the right, there will be a radar cloud point map. The left-hand deflection is very fast. When I turn the car to the left, the radar cloud point map will deflect to the left but I can feel that there is something blocking the deflection of the car (I don't feel this when I deflect the car to the right). It is my problem.
- I look at the imu_filter_madgwick wiki, this node to the release of /imu/data, but when I look at the node information map, I found that the /tf node also subscribed to this node's message. Why is this?
- since amcl and ekf have positioning function on the car, how to locate at this time, how to cooperate. The above is my problem, can get answers Thank you