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Does IMU data improve odometry in Gazebo?

asked 2013-06-05 13:33:09 -0500

ajhamlet gravatar image


Would using /robot_pose_ekf to fuse odometry and IMU data give me a better pose estimate in a Gazebo simulation? Or does Gazebo provide perfect odometry data without slip and drift?



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answered 2013-06-06 05:51:31 -0500

astaranowicz gravatar image

The question is a bit unclear. Gazebo can give you a ground-truth pose with respect to the gazebo defined origin. If you are defining your own origin and using a package to calculate the odometry, then depending on the noise the IMU data can improve or degrade the odometry calculations.

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Oh, I was unaware of that, so that actually answers my question! Cheers!

ajhamlet gravatar image ajhamlet  ( 2013-06-06 06:57:40 -0500 )edit

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Asked: 2013-06-05 13:33:09 -0500

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Last updated: Jun 05 '13