2016-01-12 07:30:15 -0600 received badge ● Good Question (source) 2016-01-06 04:57:42 -0600 received badge ● Supporter (source) 2016-01-06 04:01:27 -0600 received badge ● Scholar (source) 2016-01-06 02:27:26 -0600 received badge ● Enthusiast 2016-01-05 16:06:17 -0600 received badge ● Famous Question (source) 2016-01-05 13:58:47 -0600 answered a question Fusing absolute position information and IMU-data using the ekf_localization_node Here is a sample from the /imu data: ( It is from a gazebo simulation, I can provide the real data on Friday) header: seq: 44640 stamp: secs: 446 nsecs: 700000000 frame_id: base_link orientation: x: -0.0239752552915 y: -0.000348687880234 z: -0.997080646516 w: -0.0724931023903 orientation_covariance: [0.0012755102040816321, 0.0, 0.0, 0.0, 0.0012755102040816321, 0.0, 0.0, 0.0, 0.0] angular_velocity: x: -0.207346366252 y: 0.0202127792674 z: -0.0457584426013 angular_velocity_covariance: [0.0025000000000000005, 0.0, 0.0, 0.0, 0.0025000000000000005, 0.0, 0.0, 0.0, 0.000225] linear_acceleration: x: 0.726588580842 y: 0.193814955902 z: 9.78251465653 linear_acceleration_covariance: [0.12249999999999998, 0.0, 0.0, 0.0, 0.12249999999999998, 0.0, 0.0, 0.0, 0.09]  and here is a sample from the /poseupdate: --- header: seq: 1976 stamp: secs: 887 nsecs: 479000000 frame_id: map pose: pose: position: x: 0.0102119445801 y: -0.00177955627441 z: 0.0 orientation: x: 0.0 y: 0.0 z: -0.0152736048181 w: 0.999883351695 covariance: [31.761859893798828, -3.0734965801239014, 0.0, 0.0, 0.0, -455.1424560546875, -3.0734965801239014, 47.1007080078125, 0.0, 0.0, 0.0, 3407.331787109375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -455.1424560546875, 3407.331787109375, 0.0, 0.0, 0.0, 846946.375] ---  Side note: The /imu data comes at 100Hz, the poseupdate at 39Hz, I changed the ekf update rate to be also 100Hz. 2016-01-05 03:28:03 -0600 received badge ● Nice Question (source) 2016-01-05 02:39:18 -0600 received badge ● Editor (source) 2016-01-05 02:35:15 -0600 received badge ● Notable Question (source) 2015-12-27 00:47:34 -0600 received badge ● Popular Question (source) 2015-12-23 09:41:01 -0600 received badge ● Student (source) 2015-12-22 09:47:10 -0600 asked a question Fusing absolute position information and IMU-data using the ekf_localization_node Hello, I have a robot car with a laser-scanner and an imu and would like to fuse the position information of the two sensors. For laser based localization I am using the hector_mapping node which produces a /poseupdate topic. Additionally I am using an imu producing the /imu/data topic. Those two shall be fused to provide a more accurate position estimate at a higher rate. After incorporating the suggestions from Tom Moore my launch files look like this: Edit 1 I am getting better behaviour now. What I did is based on the following thoughts: The odom->baselink transformation according to Rep105 should only be computed by odometry sources (by def. relativ/differential information). However before I was using differential set to false in the /imu0 data of the odom->baselink ekf, so the odometry got the absolute heading information from the imu. Could this have caused the orientation errors? As I understood Rep105 the map->odom transform is computed indirectly by using absolute sensory information. So I thought it needs the absolute information from all source. That is why I set, differential to false for the imu topic of the map->odom ekf. Here are my updated launchfiles (the mess with hector frames reverted): The odom-baselink ekf-instance:  [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] [false, false, false, false, false, true, false, false, false, false, false, true, true, true, false]  The map-odom ekf:  [true, true, false, false, false, true, false, false, false, false, false, false, false, false, false] [false, false, false, false, false, true, false ...