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nxdefiant / ros_wild_thumper

ROS Base Controller for my Wild Thumper Robot
https://hackaday.io/project/25406-wild-thumper-based-ros-robot
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IMU Mounting Position #1

Open droter opened 6 years ago

droter commented 6 years ago

Hi,

Thanks for posting about your project.

I am using a Tinkerforge IMU_v2 and was wondering what orientation you mounted the imu. Did you put the tabs up and x pointing forward? When I fuse the imu with a gps the heading looks off by about 45 degrees.

tinkerforge_gps

(Black arrow is gps odom and red arrow is fused odom)

I am not using a yaw offset for the navsat_tranform node:

And I am not changing the yaw, pitch or roll for the static transform.

Thanks,

Matt

nxdefiant commented 6 years ago

Hi,

yes, the X is pointing forward with the Leds up. The issue could be from a not calibrated IMU. Can you point the IMU to north and verify that ROS and tinkerforge brickv both report near zero degrees?

Also be aware that you might need to set yaw_offset=pi/2 depending on the version of your robot_localization.