Flickering ROBOT POSE in RVIZ

[stalinADAQ]

1. I have run the brinup script from the robot, and SLAM from host computer. The ROBOT is visible in the RVIZ. but, it is very noisy or flickering the pose (I mean ROBOT is flickering on z-axis) even after ROBOT is stopped. Because of this the entire SLAM is looking like a circle, please help, if the IMU is faulty or LIDAR has problem ?
2. One more point, actually the Teensy firmware was compiled in Foxy setup, but recently i have migrated the ROBOT computer with Humble Setup. But still the old Foxy Teensy firmware will work together with Humble? or is it necessary to recompile the Teensy under Humble as well ? Also there is no branch for Humble yet in the Linorobot2 Hardware repo ? Kindly suggest a way out

[stalinADAQ]

@grassjelly kindly help me to understand above issue ?

[saqib736]

Hi, i am facing the same issue. Did you managed to resolve it?

[aimethierry]

Hi, i am facing the same issue. Did you managed to resolve it?

Did you guys solve the issue??

[stalinADAQ]

@aimethierry It seems the problem with IMU stability, We have changed the IMU to different model and got little better response. But still could not get better accuracy. I am also looking for better stability IMU at low cost. Could not find yet :)

[aimethierry]

@aimethierry It seems the problem with IMU stability, We have changed the IMU to different model and got little better response. But still could not get better accuracy. I am also looking for better stability IMU at low cost. Could not find yet :)

which IMU are you now using? For me i am using mp6050 and i was thinking to change to BN055

[stalinADAQ]

GY-85 BMP085 Sensor Modules 9 Axis Sensor Module ITG3205 + ADXL345 + HMC5883L

[aimethierry]

GY-85 BMP085 Sensor Modules 9 Axis Sensor Module ITG3205 + ADXL345 + HMC5883L

Thanks!!!, Btw, while commencing the bringup on real robot and gazebo, do you get the issue with TF?