Hi @All

I am using hectorposeestimation and imu_um6. The result is a slowly but constantly rotating tf frame. Has anyone tried this and what are your experiences? Is this the result of drifting values (poor IMU performance) or the result of an assumption in the ekf code or my setup? I would bet that Mr. K. and Mr. M of team hector are using another IMU? Why does the frame not become stable?

If I use hectorimuattitudetotf, I get a near-realistic behaviour with the tf node having a tendency to drift back to normal, but no rotation as in the case described before.

Will the pose of hectorposeestimation ever become stable with my setup?

Thank you Felix

P.S.:

I paste my launch config here in case of my setup is wrong:

<include file="$(find imu_um6)/normal.launch" /> 
<node pkg="hector_pose_estimation" type="pose_estimation" name="pose_estimation">
            <remap from="raw_imu" to="imu/data"/>
            <remap from="magnetic" to="imu/mag"/>
            <param name="pose" value="false"/>
            <param name="nav_frame" value="map"/>
            <param name="footprint_frame" value="fp"/>
            <param name="stabilized_frame" value="sf"/>
            <param name="base_frame" value="bf"/>
            <param name="with_covariances" value="false"/>
            <param name="position_frame" value="ps"/>
            <param name="publish_world_map_transform" value="false"/>
            <param name="world_frame" value="world"/>
            <param name="map_frame" value="map"/>
          </node>