imu setup for robot_localization

asked 2019-08-18 23:15:50 -0500

nerellasureshkumar7 gravatar image

Hi Guys, I'm working on project where i want to fuse both wheel odom+IMU data. I'm using robot_localization package to fuse the sensors data. I ran some tests but the combined odometry is always near to the raw odometry. I feel that there is some issue with IMU(Sparton) data.

  1. How to mount IMU on mobile robot base? Should i keep the IMU on same axis to body frame(X-fwd Y-left Z-up) or not?

  2. i'm using this package to get the values from IMU and convert them into ENU https://github.com/udmamrl/SpartonCom.... After converting the values into ENU the pitch and roll are inverted.

Here are some example data .

imu : https://drive.google.com/open?id=1KX6...

odom : https://drive.google.com/open?id=1g7I...

tf_tree : https://drive.google.com/open?id=1KX6...

I'm sure this information is not sufficient for some questions, if you need any extra explanation i'm happy to provide.

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Comments

Thanks for the Google Drive links, but can you please instead post one sample message from each input source, as well as your EKF config? Thanks.

Tom Moore gravatar imageTom Moore ( 2019-10-08 07:22:25 -0500 )edit