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How to set up parameter in hector_localization stack to fuse IMU and Barometer (Pressure sensor)?

asked 2021-09-29 09:41:23 -0500

Astronaut gravatar image

Hi

Im checking the hector_localizationhector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements and also support barometric pressure sensors. I check the launch which is this one

<?xml version="1.0"?>
<launch>
  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" />
  <node pkg="rviz" type="rviz" name="hector_pose_estimation_rviz" args="-d $(find hector_pose_estimation)/rviz_cfg/hector_pose_estimation.rviz" />
</launch>

But can not find the way hot to set up the hector_pose_estimation node and the launch file to get IMU and Pressure (barometer) data as input. Any help?

Thanks

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answered 2021-09-29 09:51:59 -0500

osilva gravatar image

There are many steps to achieve this like preparing your data, configuring filters, parameters, etc. There is a comprehensive tutorial that I will recommend you start with that includes an excellent YouTube video. If you understand the overall process, then you may go back to hector_localization and it will make more sense.

https://github.com/methylDragon/ros-s...

Also this tutorial will be helpful. It doesn't have specific what you are looking of fusion of IMU and barometric pressure sensors but it shows you how to fuse sensor data:

https://web.fs.uni-lj.si/lampa/rosin/...

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I have the IMU and Pressure topics prepared. Also I filters the IMU data so to get rid of the noise. I can not find configuring filters, parameters for Pressure sensor. I need some practical help. I know the theory . All this video and links are for the robot_localization package not for hector_lokalization stack

Astronaut gravatar image Astronaut  ( 2021-09-29 10:13:35 -0500 )edit

Sorry the info I sent wasn’t helpful. But the idea is to use what others are using and change it for your application. Anyways best of luck.

osilva gravatar image osilva  ( 2021-09-29 13:14:28 -0500 )edit

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Asked: 2021-09-29 09:41:23 -0500

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Last updated: Sep 29 '21