Which IMU do you recommend?

asked 2021-10-08 02:28:29 -0500

masterkey
11 ●6 ●9 ●9

Hello all,

I have a rover with 6 wheels and I want to improve my odom. I currently use robot_localization. With this I merge wheel odometry and from rtabmap visual odoemtry. As a camera I use a Kinect camera. I would now like to buy an IMU. I am not quite clear what kind of IMU I should buy? I want to navigate with the rover also outdoor in 3D terrain. Do I need an IMU with 6 or with 9 degrees of freedom? Are there also some that have GPS? Which IMU can you recommend for ROS? I use a Jetson Nano on which I have only one USB port free. It would be good if I could connect it via the GPIO pins.

Thanks for your help.

answered 2021-10-10 07:56:01 -0500

Mike Scheutzow
4918 ●2 ●430 ●45

the first thing you need to consider is your budget. These sensors can easily cost US$1800.
we've used devices from sparkfun and lord-microstrain. Both are 9 dof. Both have usb 2.0 interfaces.
additional features you can get: internal IMU data filtering, magnetometer (aka compass)
the IMU portion of sensor has worked well for our 3 and 4 wheeled robots. The internal data filtering works well.
the magnetometer is nearly useless for our use case. The output changes wildly due to the robot's drive motors, as well as high-power building equipment. Calibration did not compensate. If the drive motors are off, you can maybe determine which 90 degree quadrant the robot is pointing at.
I'm not aware of any IMU with integrated GPS

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As Mike points out, it depends on the use case, but I'll throw in a +1 for "magnetometers are useless", for UGVs, anyway.

Rick Armstrong ( 2021-10-10 13:43:22 -0500 )edit

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