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Good day everyone, now I'm working on a quadcopter project and I'm using IMU(gy-801) and also an ultrasonic sensor for getting the z-axis ,I have used the accelerometer and the gyroscope data to make the imu_msg and i've visualized this msg using rviz and it works very well then i have put the ultrasonic data and the heading angle in an odometry_msg,then i used this two messages in ekf_localization_node to get the pose and twist but the /odometry_filterd message that is published from that node doesn't give real data and the pose always increases fast although the quadcopter doesn't move. so am i working wrong or is there any configurations that i should consider?? thank you in advance


Originally posted by Mohamed Badra on ROS Answers with karma: 1 on 2018-07-25

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Original comments

Comment by Mohamed Badra on 2018-07-25:
so what sensor do you suggest for a quadcopter odometry?

Comment by stevejp on 2018-07-25:
I've seen a lot of people who use visual odometry. If you search google for "ros visual odometry" you'll find lots of examples.

Comment by Mohamed Badra on 2018-07-25:
thank you very much

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If you're feeding noisy acceleration measurements into an EKF without a source of position odometry your position estimate is going to explode. You can do some searching for people who have tried using r_l with just an IMU, but from what I've seen the consensus is that the results won't be great.


Originally posted by stevejp with karma: 929 on 2018-07-25

This answer was ACCEPTED on the original site

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