FUERTE and ubuntu 12.04

Hi,

I am trying to use robotposeekf package to combine the orientation data from the wheel odometry of pioneer base and IMU data to get a better EKF estimate of orientation.

The plot can be found at IMAGE.PNG

Orientation topics plotted-

IMU /imu/data/orientation/z

Wheel odometry /pose/pose/pose/orientation/z

EKF /robotposeekf/odom_combined/pose/pose/orientation/z

In the plot, I have rotated the robot twice for 360 degree. The y-axis of the plot should be multiplied by 0.5pi for your understanding. The plot of robotposeekf package is not convincing as it would follow /imu/data for some time and then gives abnormal results(X-axis b/w 50 and 100, near 150) and again follows IMU data . Generally IMU gives better results than the wheel odometry data.

Can you please tell me what can be done

Thanks,

Sai Manoj