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I'm guessing your IMU puts out linear acceleration, angular velocity, and absolute orientation. … Comment by toqa elshahat on 2017-04-22: can i use "IMU" in linear movement to create a 2D map or calculate the linear velocity?? …

Apologies if this is a stupid question, but if I have a 3-axis magnetometer, and I calculate the vector magnitude as sqrt(magX * magX + magY * magY + magZ * magZ) ...then should I not always get th …

I believe robot_pose_ekf lets you specify an IMU topic to fuse with the state estimate. … Comment by fyxbird on 2014-07-05: When I compare orientation from imu and ekf, I find that when I rotate imu around x axis. The data from imu keeps growing smoothly, like from 0.22 to 0.24. …

In other words, I want to do an extrinsic rotation of the IMU of +90 degrees of roll, then +90 degrees of yaw (with the intrinsic, IMU-frame rotation being +90 degrees roll, +90 degrees pitch). … What do you expect the IMU to read for (a) orientation and (b) rotation rate? For (a), I expect the IMU to read +90 degrees roll, and +90 degrees yaw. …

A single IMU is insufficient for a good state estimate. … The imu seems drifting unbounded. Besides, the rotation is not effective at all. …

Your IMU0 configuration is specified incorrectly. You have this: <rosparam param="imu0">[false, false, false, false false, true, false, false, fa …

The EKF and UKF in r_l take in the message types described here. All the message types that have orientation data use quaternions. r_l doesn't support messages with RPY data, so if you only have that …

If you check out the wiki, specifically the section on parameters, you'll see that you can specify an IMU input like so: <rosparam param="imu0_config">[false, false, false, … true, true, true]</rosparam> I'll leave it to you to look at the ordering of the parameters on the wiki, but this configuration will use only the angular velocity and linear acceleration from an IMU …

Just make sure that the IMU produces data in ENU frame. Most IMUs produce NED-frame data by default, which will not work with r_l. … I may be incorrect, but looking at the VN-100 driver source, it appears to be copying data straight from the IMU, which indicates to me that it may be in the wrong frame. …

Even if you get an NED IMU, it's easy enough to modify drivers to convert to ENU. I typically just invert the values for the Y and Z axes. …

If I had to guess, your issue is almost certainly this: <param name="debug" value="true" /> Turning on debug mode spits a ton of text data out to disk, with matrices everywhere. Is there a reason yo …

The issue is that the filter can't transform your IMU messages into the target tf frame. If you post your tf tree and a sample IMU message, that will help. … "faster" than the raw IMU yaw velocity. …

I wrote the core filter classes to be ROS-agnostic, but then wrapped them in ROS-aware classes that take in messages, preprocess the data (transform into target frames, check for invalid messages, etc …

Have you tried just fusing the IMU data? … Same goes for your IMU data. …

IMU-only configuration is not something I would recommend. …