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husarion / rosbot_ros

ROS packages for ROSbot 2, 2R and 2 PRO
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IMU joint position in rosbot #2

Closed shrijan00 closed 4 years ago

shrijan00 commented 5 years ago

Hi,

I was trying to integrate imu on ROSBOT, but the joint location to which I'm adding is incorrect due to which on doing sensor fusion using EKF, the robot starts to shake in rviz. So, could anyone help me in adding the imu at the correct location?

Hubert424 commented 5 years ago

Hi,

I've just add IMU to our model. Please check this out. If problem will be occuring, I will help you to investigate it.

Best regards, Hubert

shrijan00 commented 5 years ago

@Hubert424 Thanks for your reply. So, basically joint named 'top' is the imu joint, right?

Hubert424 commented 5 years ago

@shrijan00 IMu sensor is based inside the robot and its localization is practically the same as 'top', so basically is no need to create additional joint for it.

shrijan00 commented 5 years ago

Thanks, alot So, I tried to do the sensor fusion but unfortunately, it still shakes a bit in rviz Here is EKF configuration file `odom_frame: odom base_link_frame: base_link world_frame: odom

two_d_mode: true

frequency: 50

odom0: /odom odom0_config: [false, false, false, false, false, false, true, true, true, false, false, true, false, false, false] odom0_differential: false odom0_queue_size: 10

imu0: /imu imu0_config: [false, false, false, true, true, true, false, false, false, true, true, true, false, false, false] imu0_differential: true imu0_queue_size: 10 imu0_remove_gravitational_acceleration: true`