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clearpathrobotics / imu_compass

Node to combine IMU data (accelerometers and gyroscopes) with Compass data (magnetometers) for a cleaner reading of a Vehicles Heading
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Missed transform between base_link and imu_link #3

Closed brianzhan closed 8 years ago

brianzhan commented 8 years ago

Hi, I have the error message: Missed transform between base_link and imu_link

I am using the UM6r2, and launched my UM6r2 with the UM6 ROS package. Was wondering if there is a solution for this?

paulbovbel commented 8 years ago

Hi @brianzhan, this package is legacy and unmaintained.

For fusing IMU data into a pose estimate, I would point you at imu_filter_madgwick. Please see the husky or jackal URDF/tf trees, and controls bringup to see how this is implemented.

brianzhan commented 8 years ago

I see, thank you very much!

brianzhan commented 8 years ago

I was wondering if you might be able to go into a bit more detail into how I might use that Husky package to filter my UM6 information? I found the following folder, but can't seem to figure out how to use it to filter my IMU. https://github.com/husky/husky_robot/tree/f3d3f10f5a9dd4b0517f9de7cbd31de974fe53ff/husky_bringup/scripts

paulbovbel commented 8 years ago

Look at the way the um6 pipeline is set up https://github.com/husky/husky_robot/blob/f3d3f10f5a9dd4b0517f9de7cbd31de974fe53ff/husky_bringup/launch/um6_config/um6.launch

brianzhan commented 8 years ago

Thanks!

brianzhan commented 8 years ago

Thanks a lot! Finally got it running. I was wondering: am I correct to assume the ideal way to calibrate the compass to rotate it repeatedly, along (in my case, the) one axis that I want the magnetometer to measure? And I'd assume precision of the spin around one point without xyz-movement is necessary?