IMU magnetic reference with other odom sources

Hi, I am trying to use GPS RTK for localization so if I am not wrong, navsat transform would require IMU to be earth reference frame. My IMU reads 0 yaw when facing East so yaw_offset: 0? I then fuse absolute orientation in my ekf but my other sources of odom, lidar and visual odom, translate in odom frame's x axis, while the orientation of the robot faces the earth reference frame which is different. How do I address this orientation difference?

Asked by MrOCW on 2022-07-05 11:04:22 UTC

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Answers

My IMU reads 0 yaw when facing East so yaw_offset: 0

So facing east geographically, your IMU always reads 0? What if you face south when you start it, and then turn east? I just haven't seen any IMUs read 0 when facing east.

As for the rest of your question, it sounds like the crux of your issue is that you are attempting to fuse two different sources of pose data with disagreeing frames. If it were me, I'd just fuse orientation velocity from the IMU into your EKF. That, or use relative mode for the IMU in the EKF.

But you should include your full config (please remove comments) and a sample message from each sensor input.

Asked by Tom Moore on 2022-07-28 09:15:56 UTC