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luxonis / rae-ros

Implementation of RAE ROS and gazebo stack
MIT License
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Imu and odom fusion #52

Closed AnielAlexa closed 12 months ago

sskorol commented 1 year ago

@AnielAlexa hi, could you please record a short video of these IMU changes in RViz? Because I've already tried to apply some of your changes related to ekf and it didn't work for me. P.S. FYI, there are conflicts, as some of these changes have already been merged before.

AnielAlexa commented 1 year ago

@sskorol Here is a short video with IMU fusion while is performing a 1x1 m square. These days probably will be available an image using data from internal fusion of IMU, which seems more stable. Screencast from 10-20-2023 04:05:43 PM.webm

sskorol commented 1 year ago

@AnielAlexa which launch script are you using in Docker container? I'm asking because I noticed your fixed frame is odom. But the full bringup.launch runs SLAM nodes, where map becomes the top frame. As the whole purpose of sensor fusion is using this info for SLAM and Nav, isn't it? So can you show the same, but running with SLAM?

AnielAlexa commented 1 year ago

@sskorol you can try this with ros2 launch rae_bringup robot.launch.py. I do not test SLAM yet with this change, but will come soon.

sskorol commented 1 year ago

Yup, when I said it didn't work correctly, I meant SLAM scenario. Looking forward.

AnielAlexa commented 1 year ago

Yeah, SLAM do not work correctly. If want and have time, you can record a video like my one. I'm curious how perform your RAE.