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asked Mar 27 '17

Cerin gravatar image

Arduino Kalman Filter

I have an Arduino Mega acting as a low level controller, forwarding motor encoder, IMU and other sensor data to the host computer.

However, since it's already processing encoder and IMU data, and because my host is a little underpowered processing other sensor data, I'd like the Arduino to combine use a Kalman filter to produce improved odometry data. Is there anything in ROS for this that would run on an Arduino?

I'm aware of a few projects, like robot_pose_efk, but they only seem to run on traditional ARM or x86 architectures.

Arduino Kalman Filter

I have an Arduino Mega acting as a low level controller, forwarding motor encoder, IMU and other sensor data to the host computer.

However, since it's already processing encoder and IMU data, and because my host is a little underpowered processing other sensor data, I'd like the Arduino to combine use a Kalman filter to produce improved odometry data. data directly. Is there anything in ROS for this that would run on an Arduino?

I'm aware of a few projects, like robot_pose_efk, but they only seem to run on traditional ARM or x86 architectures.