Sbc imu #60
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Sbc imu #60
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Thanks a lot @joeuser846, this looks very promising! I am planning to test it soon and provide detailed feedback to get this merged. |
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These changes implement the Adafruit BNO055 IMU directly connected to the sbc (Rpi in my case) using I2C. The IMU data and motor encoder based odom is fused in robot_localization to create a much more robust odom.
Some of the changes in this PR are tangential and were just me trying various settings to clear problems with transform timings and "extrapolation into the future" errors. Those can be ignore or tweaked as appropriate. The key changes are in diffbot_control/config, ros-imu-bno055/launch, robot_localization/params, diffbot_description/urdf, and the diffbot_bringup/launch files that now also start the IMU and robot_localization, specifically: bringup_with_laser_imu.launch and bringup_all.launch.
Hope you find this useful. Thanks again for diffbot.