UM7 NED IMU orientation with robot_localization and navsat_transform

asked 2021-02-18 11:51:53 -0500

Gherkins gravatar image

updated 2021-02-18 12:57:56 -0500

I have an um7 imu that reports data in the NED frame and is mounted on the robot with x forward it also has a magnetometer.

  1. If I transform it to ENU along with magnetometer data can I use this in robot_localization or should I tune something?
  2. If I read navsat_transform docs correctly data should be in NED. So should I fuse the NED data with magnetometer with and use that for navsat or is there a better way?
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