I am using this ROS2 driver to connect my MPU6050 to RPi 4 running ROS2 humble. It outputs an IMU message containing linear acceleration and angular velocity. The linear acceleration values seem to be gyroscope values, as they change when I tilt the robot but not when the robot accelerates in X,Y or Z. But I want X and Y acceleration values for Ros2 robot_localization via ekf, how would I get that. Is that an issue with this driver, or a problem with MPU6050? Thanks I am a beginner.
Edit: I get the values described in the robot_localization wiki:
Acceleration: Be careful with acceleration data. The state estimation nodes in robot_localization assume that an IMU that is placed in its neutral right-side-up position on a flat surface will: Measure +9.81 9.81 meters per second squared for the Z Z axis. If the sensor is rolled +90 90 degrees (left side up), the acceleration should be +9.81 9.81 meters per second squared for the Y Y axis. If the sensor is pitched +90 90 degrees (front side down), it should read -9.81 9.81 meters per second squared for the X X axis.
But I don’t understand how this works. When I pitch the robot forward, it goes forward faster and faster in RViz. And when moving around it eventually drifts because of this. Why is linear_acceleration providing me angular values? Perhaps it is measuring the acceleration forces on the robot but this would change when the robot is pitch/rolled so how does the EKF properly control for changes in pitch and roll?
