Hello all
I am trying to fuse imu, poseupdate which published from hector_slam using 2D Hokuyo lidar and 1D lidar for heigt measuerement using hector_localization.
At first I got a error meassge "Invalid state, resetting..." and I solved it with edit poseupdate.cpp (I think covariance and H matrix at updating Yaw was problem).
After that, it looks algorith works fine, but when robot start to move, roll and ptich of base_link and /pose are become tilted. And vector x, y of /linear acceleration bias goes larger and larger.
Attitude of /sensor_pose looks fine that I don`t think subscribing IMU problem or wrong frame problem..
And when I check the debug messages, "updating with system model gyro or accelerometer" results shows just 0 (dt * f(x) ] [ 0 0 0 0 0 0 0 0 ...]. Is it relavant?
If someone knows the answer, please let me know.. I really want make it move...
Hello all I am trying to fuse imu, poseupdate which published from hector_slam using 2D Hokuyo lidar and 1D lidar for heigt measuerement using hector_localization. At first I got a error meassge "Invalid state, resetting..." and I solved it with edit poseupdate.cpp (I think covariance and H matrix at updating Yaw was problem).
After that, it looks algorith works fine, but when robot start to move, roll and ptich of base_link and /pose are become tilted. And vector x, y of /linear acceleration bias goes larger and larger. Attitude of /sensor_pose looks fine that I don`t think subscribing IMU problem or wrong frame problem.. And when I check the debug messages, "updating with system model gyro or accelerometer" results shows just 0 (dt * f(x) ] [ 0 0 0 0 0 0 0 0 ...]. Is it relavant?
If someone knows the answer, please let me know.. I really want make it move...
Best regards,