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odometry from IMU using robot_localization keeps accelerating

asked 2020-11-24 03:32:13 -0600

someDutchguy gravatar image

updated 2020-11-25 05:33:36 -0600

I am trying to fuse GPS and IMU odometry using the ekf_robot_localization node. I also wanted to try how good/accurate localization from only the IMU (mpu9250) would be. The directions and overall shape of the path seems okay (i walked a rectangle with the system containing the IMU). However, there seems to be a constant acceleration in the filtered odometry output that did not exist in the real world. The first side seems to be of the correct length but after that the sides of the rectangle keep getting longer compared to what they were in the real world. Has anyone had a similar problem? I know that i will not get a specific solution due to the problem being so unspecific. I was hoping to get suggestions to what i might look into with regards to solving this problem.

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answered 2020-11-24 10:14:48 -0600

JackB gravatar image

updated 2020-11-24 10:32:27 -0600

Without you config or launch files it is hard to say.

That being said, do you have the remove_gravitational_acceleration parameter set to true? I don't 100% think this is causing the problem, and its a long shot, but I think it is worth checking out.


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it is set to true. i would have uploaded some files/screenshots but apparently i need more internet points for that

someDutchguy gravatar image someDutchguy  ( 2020-11-25 05:35:44 -0600 )edit

Now you have more points.

billy gravatar image billy  ( 2020-11-25 12:52:53 -0600 )edit

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Asked: 2020-11-24 03:32:13 -0600

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Last updated: Nov 25 '20