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I have an xsens mti-7 imu. I plan to progress by integrating wheel odometry first and then gps, respectively. However, before doing these, I'm trying to do ekf using only imu with roll-pitch-yaw angles and roll-pitch-yaw velocity. At this point, the problems I encounter and the questions I want to ask are: (E : Error Q: Question)

E1: parameters 1 for ekf file:

imu0_config: [false, false, false, true, true, true, false, false, false, true, true, true, false, false, false]

In this case, the odom frame makes slight movements and returns to the 0-0-0 position while the imu continues to move.

parameters 2 for ekf file :

imu0_config: [false, false, false, false, false, false, false, false, false, true, true, true, false, false, false]
In this case, the odom frame moves with the imu, but when it remains stationary, its angle decreases with a slight acceleration. Although there is no deviation and shift for imu, this happens for ekf.

Q1: What is the reason of this? Why can't I use the angle values for roll-pitch-yaw.

Q2: Why does ekf keep scrolling for 2nd parameters?





Thank you for your help.

Originally posted by ndmrly on ROS Answers with karma: 16 on 2021-11-09

Post score: 0

Original comments

Comment by osilva on 2021-11-09:
Hi @ndmrly, we can't see the pictures. Could you pls reload them.

Comment by ndmrly on 2021-11-10:
I updated it. @osilva

Comment by Tom Moore on 2021-12-22:
Please include:

  1. Your full EKF configuration(s)
  2. A sample message from every sensor input

Comment by Tom Moore on 2022-01-14:
Any update on this? Let me know if it can be closed.


1 Answer 1


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Thank you for your reply @Tom Moore . Sorry for the late reply. I solved my issue and I use r_l with rtk-gps. I got very god result. My problem was xsens driver and I fixed it. I close this now.

Originally posted by ndmrly with karma: 16 on 2022-01-14

This answer was ACCEPTED on the original site

Post score: 0


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