search

ethz-asl / kalibr

The Kalibr visual-inertial calibration toolbox
Other
4.33k stars 1.4k forks source link

How to calibrate only IMU in gazebo #624

Closed nicko369 closed 1 year ago

nicko369 commented 1 year ago

How to calibrate the libgazebo IMU plugin. Even though the plugin parameters are set to 0, there is still some noise and fluctuations even though the IMU is stationary. Is it possible to calibrate the IMU in gazebo? Is it possible to even calibrate at all in gazebo because the arcuo poster is needed

goldbattle commented 1 year ago

You should need to figure this out yourself. Gazebo is a simulation, so there will still be some small noise due to the numerical physic simulator used. Additionally, Kalibr requires an adding sensor, so this will not work directly unless you also simulate a camera.