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how can I publish odometry data using mpu6050 and Arduino UNO?

asked 2019-06-07 01:14:29 -0600

sajal gravatar image

I have to publish odometry for ros navigation stack. I have mpu6050 sensor and an arduino UNO board. I'm working on a RPi 3 with ros kinetic. Is there an online tutorial available for this or any useful link.

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mali gravatar image mali  ( 2019-06-07 02:08:42 -0600 )edit

Are u sure that you want to rely on an IMU for generating odometry data? You will have a lot of drift-error.

mtROS gravatar image mtROS  ( 2019-06-07 02:25:41 -0600 )edit

I don't have encoders, so is there any other option.

sajal gravatar image sajal  ( 2019-06-07 04:29:14 -0600 )edit

so is there any other option.

visual odometry.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-07 05:56:33 -0600 )edit

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answered 2020-04-07 15:06:00 -0600

duck-development gravatar image

If your slam need odometry so you may use Hector slam, it do not need the this input.

otherwise you have some speed controll for your motors, there you could integrate the set velosity and then you get some simulated odometry, but you do not get a feedback controll.

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Asked: 2019-06-07 01:14:29 -0600

Seen: 1,374 times

Last updated: Apr 07 '20