IMU-only Odometry?
I have a very precise IMU, I want to obtain position information and understand that double integration can cause drift. When I try using robotposeekf and robot_localization, they don't seem to publish odometry info when only an IMU is set. Is there a package or setup that can allow me to obtain odom information from just an IMU?
Asked by Inertoel on 2019-06-11 11:11:02 UTC
Comments
IMU-only odometry, even with a good IMU, starts to drift after just a few seconds. So it is good for short term odometry like seeing if you turned 45 degrees, but if used for dead reckoning the robot will be completely lost after a minute or two. You could look into using a madgwick filter to improve performance of the IMU a little bit, but you should plan on using something else in addition to your IMU like a laser scan, or motor feedback if you need more reliable odometry information.
Asked by AvocadoOfDestiny on 2019-06-20 09:57:17 UTC