IMU causes robot to rotate in wrong direction relative to odom

asked 2020-01-14 08:17:26 -0600

emlynw gravatar image

updated 2020-01-14 08:20:56 -0600

Hi,

I'm using a clearpath husky with an LMS111 LIDAR and a UM7 IMU. When I view the husky in RViz without the IMU, the robot rotates in the correct direction relative to the odom frame and the LIDAR points settle back to the correct position after a second or so.

However, when I plug the IMU in the robot will rotate in the opposite direction in Rviz relative to odom, and the LIDAR points will also rotate around odom. So I think that the IMU is messing up the odom to base_link transform, which is broadcast by /ekf_localization according to my tf tree, but I'm not sure what needs to be changed to fix this. Does anyone know how I could fix this?

Thanks

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Comments

Sounds like your IMU frame isn't set up correctly. You need to make sure you have a frame that accurately represents the orientation of your IMU relative to a parent frame (base_link or something) so that the transformations can be done correctly.

stevemacenski gravatar imagestevemacenski ( 2020-01-14 15:39:56 -0600 )edit