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cra-ros-pkg / robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc. Please ask questions on answers.ros.org.
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Performance using just an IMU #847

Closed ishaanamahajan closed 11 months ago

ishaanamahajan commented 11 months ago

This is how my ekf config looks like. I am trying to use just an IMU (Wheeltec n100), and I got some really good results a while back (attached below). For some reason I am not able to replicate a behavior anywhere close to that anymore. Is there something I am missing on how the package works? Screenshot from 2023-11-27 16-54-29

Screenshot from 2023-11-07 14-04-03

Thank you for the help!

ayrton04 commented 11 months ago

Please ask questions on robotics.stackexchange.com. This package has never worked well with only IMU data, and I can't imagine any package would. The double-integration of acceleration data will always result in runaway velocity. You need, at minimum, a velocity reference.