IMU-only Odometry?

asked 2019-06-11 11:11:02 -0500

Inertoel gravatar image

I have a very precise IMU, I want to obtain position information and understand that double integration can cause drift. When I try using robot_pose_ekf 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?

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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.

AvocadoOfDestiny gravatar image AvocadoOfDestiny  ( 2019-06-20 09:57:17 -0500 )edit