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mrsp / imu_ekf

A ROS C++ node that fuses IMU and Odometry
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Example bag files and scripts #1

Closed wmlynar closed 5 years ago

wmlynar commented 6 years ago

Hello,

great contribution, thanks. Would you mind posting

to illustrate better how to use your library?

Thanks again, Wojciech

mrsp commented 6 years ago

Hello Wojciech and Merry Xmas!

Thanks for comments.

This repo is a test repo right now, but I am refactoring the code in order to properly release it and show how to fuse kinematically computed odometry (e.g. leg odometry for humanoids, wheel odometry for mobile robots), visual odometry and/or any other pose i.e. GPS readings with the IMU readings.

Hopefully, this will be done in about 1-2 months or so, considering we have Christmas holidays and this project is on-going research! On the other hand I'let you know that in my lab tests so far I was able to accurately estimate the 3D-pose, 3D-velocity and IMU biases for my walking humanoid robot so I am pretty confident that this filter works when properly tuned!

The EKF is based on https://groups.csail.mit.edu/rrg/papers/icra12_aggressive_flight.pdf but with the imu biases in the state vector.

I'll leave this issue open so I can get back to you when I have the latest version. In the meanwhile, if you have any other question feel free to ask!

Thanks

Stelios

mrsp commented 5 years ago

Hello

Examples and bagfiles are posted in https://github.com/mrsp/serow

Although this is a legged robot estimator, the IMU EKF used in it is the same.

Hope it helps Stelios