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Best way to visualize IMU

asked 2023-02-03 02:32:47 -0500

vanmalleghema gravatar image


I'm currently creating an EKF based on VO (visual odometry), IMU and GPS and the result is quite bad. I Would like to understand more in depth why. In this context, I would like to see if the IMU is correctly configured and if the data it sends are correct. What is the best way to do so ?

Thanks in advance.

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answered 2023-02-04 15:23:08 -0500

chased11 gravatar image

To just see the IMU frame, you can use the IMU plugin in Rviz. Or rostopic echo imu/data to see the raw data.

BUT I see you are using GPS, which from my experience is pretty tough to have working together in an EKF. Test just VO and IMU together, get that working correctly, then try to add GPS. Also, look into the use of dual ekf when fusing GPS data in an EKF.

Keep in mind your IMU needs to have it's orientation absolute to earth, or 0 facing east for it to work correctly in navsat_transform_node.

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answered 2023-02-04 15:21:59 -0500

ljaniec gravatar image

I support @Davies Ogunsina suggestion, use RViz with this rviz_imu_plugin to display it (both ROS1 and ROS2 are possible).

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answered 2023-02-04 14:55:04 -0500

Davies Ogunsina gravatar image

using rviz is the best way.

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Asked: 2023-02-03 02:32:47 -0500

Seen: 1,574 times

Last updated: Feb 04 '23