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robot_localization does not integrate IMU [closed]

asked 2020-11-09 05:03:20 -0600

alme96 gravatar image

Hello,

I am trying to fuse radar and imu measurements to estimate the states of my robot. From the radar, I get the linear velocity in x (REP-103) and from the imu, I get all angular velocities and linear accelerations. I wrote the radar information into a nav_msgs/Odometry message and the imu information into a sensor_msgs/Imu message. For the state estimation, I am trying to use the ekf_localization_node from the robot_localization package.

The odometry information of the radar seems to be integrated properly into the EKF but the imu information gets completely ignored. I have the impression that the transformation from the frame "odom" to the frame "imu" is missing but cannot explain why.

If you follow this link you will find a bag file, launch file, and a tf tree for a simulation with the radar and the imu and one with only the imu.

I am using ROS Melodic on OS Ubuntu 18.04.5 LTS.

I thank you in advance for any provided help.

Kind regards,

Ale

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Closed for the following reason question is not relevant or outdated by alme96
close date 2020-11-20 14:44:00.492724

Comments

Just a comment, but for starters DO NOT use the rejection threshold on the IMU until you better understand the dynamics you are trying to capture

JackB gravatar image JackB  ( 2020-11-09 12:51:44 -0600 )edit

Can you please include both the launch/config and a sample input message from every sensor input in the question itself?

Tom Moore gravatar image Tom Moore  ( 2020-11-11 08:36:06 -0600 )edit

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answered 2020-11-20 14:43:20 -0600

alme96 gravatar image

Hi, Thank you for showing interest but I have now solved this issue. The covariance in my IMU msg started with -1 and got therefore ignored.

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Asked: 2020-11-09 05:03:20 -0600

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Last updated: Nov 09 '20