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SLAM with IMU with no wheel odometry

I would use a GNSS/RTK receiver to have an absolute localization of the surface vehicle. With the robot_localization package an odom topic can be generated out of the GNSS position. With the addition ...
Nobel's user avatar
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1 vote

SLAM with IMU with no wheel odometry

I had the same issue with my own project. As explained by Marcus, I used hector slam for getting odometry data using 2d lidar in Ros Noetic. You can also use ekf robot localization package to fuse imu ...
fatemeh_p's user avatar
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IMU and Magnetometer Conventions in ROS: Sanity check

If the sensors were to rotate from X to Z that should generate a positive reading in pitch. From Z to X should generate a negative reading. If the sensors were to rotate from X to Z that should ...
automatom's user avatar
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1 vote

SLAM with IMU with no wheel odometry

awesome project!You won't be able to use SLAM properly as stated here: https://github.com/SteveMacenski/slam_toolbox/issues/221 Another approach that could work is to use hector slam package: "if ...
Marcus Vinicius's user avatar
1 vote
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What is ENU frame in IMU?

ENU frame is the accronym of East North Up (XYZ). Which means that robot_localization expects your IMU to publish 0 degree rotation when the X axis of your IMU ...
ÁngeLoGa's user avatar
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How to deal with asynchronous samples in a kalman filter framework multi-sensor fusion?

In anticipation of dealing with a very similar problem I am doing my own research. I had the same idea (2. possibility) that one might use a variable timestep to advance the predicted state to the ...
TheEmboldened's user avatar
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Odometry with robot_localization using GPS and Imu, not encoders

This config/setup will simply not work, I'm afraid. First, you should read REP-105. The odom frame pose should be continuous, even though it will drift from reality....
automatom's user avatar
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