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IMU + Markers kalman filter

Hi. In my robot I have two types of localization: Intertial and localization based on 2D markers. For my IMU I use this package: https://github.com/piappl/KVH_CG5100_IMU . I wrote my own localization based on 2D markers using chili software http://chili.epfl.ch/software . Now I'm trying to apply Kalman filter to combine these two measurements: IMU data and a robot's position on a local map (2D markers map). I found robot_pose_ekf package, but I don't know how to use it well. My robot's position is floating when robot isn't moving. I think that it might be caused by noises coming from localization based on 2D markers. Should it float when IMU isn't moving? I don't understand it. Robot_pose_ekf subscribes visual odometry. Can I send on visual odometry topic my position on local/global map? Thanks.

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IMU + Markers kalman filter

Hi. In my robot I have two types of localization: Intertial and localization based on 2D markers. For my IMU I use this package: https://github.com/piappl/KVH_CG5100_IMU . I wrote my own localization based on 2D markers using chili software http://chili.epfl.ch/software . Now I'm trying to apply Kalman filter to combine these two measurements: IMU data and a robot's position on a local map (2D markers map). I found robot_pose_ekf package, but I don't know how to use it well. My robot's position is floating when robot isn't moving. I think that it might be caused by noises coming from localization based on 2D markers. Should it float when IMU isn't moving? I don't understand it. Robot_pose_ekf subscribes visual odometry. Can I send on visual odometry topic my position on local/global map? Thanks.

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IMU + Markers kalman filter

Hi. In my robot I have two types of localization: Intertial and localization based on 2D markers. For my IMU I use this package: https://github.com/piappl/KVH_CG5100_IMU . I wrote my own localization based on 2D markers using chili software http://chili.epfl.ch/software . Now I'm trying to apply Kalman filter to combine these two measurements: IMU data and a robot's position on a local map (2D markers map). I found robot_pose_ekf package, but I don't know how to use it well. My robot's position is floating when robot isn't moving. I think that it might be caused by noises coming from localization based on 2D markers. Should it float when IMU isn't moving? I don't understand it. Robot_pose_ekf subscribes visual odometry. Can I send on visual odometry topic my position on local/global map? Thanks.