odometry from IMU using robot_localization keeps accelerating
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.
