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Fusing odom, imu, magnetometer with robot localization

Hi, I'm looking for information about fusing odometry with imu and magnetometer. Just in 2D. My sensors are connected to an embbeded systems and I'm publishing raw data to ROS using rosserial. Right now I'm publishing odometry, IMU (raw Gyro and accel data) and raw (after calibration) magnetometer data. I'm not providing orientation data, just raw data. What is better, fusing all raw data in robot_localization? make some complimentary filter between gyro and magnetometer and publish orientation in IMU msg? has someone a config file for robot_localization with this sensors? I'm not sure what magneticfield data could be added to RL config file. I think I need to, at least, calculate heading with magnetometer an publish it...