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2015-11-13 10:31:26 -0500 | asked a question | robot_localization imu problem I want to use ARtoolkit with imu to localize the camera. From Artoolkit I publish " geometry_msgs/PoseWithCovarianceStamped". From imu I publish "sensor_msgs/Imu". "ekf_localization" is working with ARtookit ,but for the imu, the camera rotate around the world frame instead of rotating around itself , I mean if I rotate the imu around it self the ekf_localization make this rotation around the world frame. <launch> </node> </launch> Artoolkit " geometry_msgs/PoseWithCovarianceStamped" header: seq: 2689 stamp: frame_id: base_link orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.0 y: 0.0010652645 z: 0.0 angular_velocity_covariance: [1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0] linear_acceleration: x: -0.1147221 y: 0.066764873 z: -0.2863152313 linear_acceleration_covariance: [1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0] imu "sensor_msgs/Imu". header: seq: 480 stamp: frame_id: base_link orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: 0.18535602 y: -0.101200126 z: 0.11824436 angular_velocity_covariance: [1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0] linear_acceleration: x: 0.70240245 y: 0.68480095 z: 0.9316814 linear_acceleration_covariance: [1000.0, 0.0, 0.0, 0.0, 1000.0, 0.0, 0.0, 0.0, 1000.0] |