0
$\begingroup$

Rosanswers logo

My IMU( Xsens MTi-28A53G35) only puts out orientation, angular velocity and linear acceleration. I want to use this data to help improve the accuracy of odom of the robot.

The Robot_localization doesn't support acceleration data from IMU so I have to transform acceleration into velocity first. I am wondering whether there are any nodes that can do this or I have write a node for it?


Originally posted by [email protected] on ROS Answers with karma: 1 on 2014-09-18

Post score: 0

$\endgroup$

2 Answers 2

0
$\begingroup$

Rosanswers logo

Why don't you just ignore linear acceleration? Check this tutorial. In the config param of your imu in the launch file, you can set the variables related to orientation and angular velocity as true and the rest as false. So your config param for imu should look like this:

<rosparam param="imu0_config">[false, false, false, 
                                     true,  true,  true, 
                                     false, false, false, 
                                     true,  true,  true]</rosparam>

Originally posted by ROSCMBOT with karma: 651 on 2014-09-19

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$
0
$\begingroup$

Rosanswers logo

Usually if you want to integrate different types of data like GPS, Odometry, Acceleration, Rotation, ect. to correct your actual position you will use a so called EKF (extended kalman filter). You will find a ready to use ros node to do this http://wiki.ros.org/robot_pose_ekf or you have to this be yourself in special cases!


Originally posted by zumili with karma: 141 on 2014-09-23

This answer was NOT ACCEPTED on the original site

Post score: 2

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.