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Odom does not move when roll-pitch-yaw is true when using ekf with imu data. [closed]

asked 2021-11-09 07:22:32 -0500

ndmrly gravatar image

updated 2022-03-08 06:58:30 -0500

lucasw gravatar image

I have an xsens mti-7 imu. I plan to progress by integrating wheel odometry first and then gps, respectively. However, before doing these, I'm trying to do ekf using only imu with roll-pitch-yaw angles and roll-pitch-yaw velocity. At this point, the problems I encounter and the questions I want to ask are: (E : Error Q: Question)

E1: parameters 1 for ekf file:

imu0_config: [false, false, false, true, true, true, false, false, false, true, true, true, false, false, false]

In this case, the odom frame makes slight movements and returns to the 0-0-0 position while the imu continues to move.

parameters 2 for ekf file :

imu0_config: [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false]
In this case, the odom frame moves with the imu, but when it remains stationary, its angle decreases with a slight acceleration. Although there is no deviation and shift for imu, this happens for ekf.

Q1: What is the reason of this? Why can't I use the angle values for roll-pitch-yaw.

Q2: Why does ekf keep scrolling for 2nd parameters?

Thank you for your help.

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Closed for the following reason the question is answered, right answer was accepted by ndmrly
close date 2022-01-14 06:16:33.916324


Hi @ndmrly, we can't see the pictures. Could you pls reload them.

osilva gravatar image osilva  ( 2021-11-09 11:37:02 -0500 )edit

I updated it. @osilva

ndmrly gravatar image ndmrly  ( 2021-11-10 00:46:26 -0500 )edit

Please include:

  1. Your full EKF configuration(s)
  2. A sample message from every sensor input
Tom Moore gravatar image Tom Moore  ( 2021-12-22 05:12:36 -0500 )edit

Any update on this? Let me know if it can be closed.

Tom Moore gravatar image Tom Moore  ( 2022-01-14 02:58:28 -0500 )edit

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answered 2022-01-14 06:15:24 -0500

ndmrly gravatar image

Thank you for your reply @Tom Moore . Sorry for the late reply. I solved my issue and I use r_l with rtk-gps. I got very god result. My problem was xsens driver and I fixed it. I close this now.

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Asked: 2021-11-09 07:22:32 -0500

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Last updated: Nov 10 '21