Hello guys,
I've been trying to integrate IMU data to robot_pose_ekf. However, robot_pose_ekf subscribes to an odometry topic, which in my case is not available. Our robot only has two laser scanners and no wheel odometry. hector_mapping generates the transform "odom --> base_footprint" which I use to created a fake odometry message.
So, I had /odom and /imu/data as inputs for robot_pose_ekf. It didn't work out due to timing issues between the topics.
Do you know of a ros-package which subscribes to /imu/data and publishes and odometry message?
If not, what kind of approach would be best for dealing with that? A Kalman Filter?
I'm looking for something like this:
3D Tracking with IMU
https://www.youtube.com/watch?v=6ijArKE8vKU
Thanks in advance
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