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mrsp / imu_ekf

A ROS C++ node that fuses IMU and Odometry
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questions about ekf parameters #2

Closed softdream closed 5 years ago

softdream commented 5 years ago

Hi Stelios, Thanks for your great contribution. I noticed there was a function named loadIMUEKFparams() in the file imu_estimator.cpp. I have some questions about what should these parameters be set to. Could you please provide more details about how to set these parameters about the ekf correctly ? Looking forward for your reply. Thanks in advance. Daofeng Du

mrsp commented 5 years ago

Hello Daofeng

Unfortunately, this repo is not supported anymore I'll kindly refer you to serow (https://github.com/mrsp/serow) it uses the same floating base estimator with an EKF and IMU/odometry measurements. I've also listed some papers that you could look at.

Parameters are tuned in the corresponding robotic platform files e.g. (https://github.com/mrsp/serow/blob/master/config/estimation_params_cogimon.yaml)

Stelios

softdream commented 5 years ago

Hi Stelios, Thanks for your detailed information. I am making a slam robot without using ros and I need an accurate enough odometer data.I think your work helped me a lot.Thanks again for your code. Daofeng Du.

mrsp commented 5 years ago

Hi Daofeng

If you are interested in the code kindly see the devel branch of serow it has been recently updated but not yet merged to the master branch. I also recall fixing something the IMUEKF implementation.

https://github.com/mrsp/serow/blob/devel/src/IMUEKF.cpp