um7_imu & Robot_localization

Robot localization with IMU (https://www.pololu.com/product/2764) and odometry data of the mobile platform

To run the um7 IMU and robot localization

clone this repository using the below command in catkin_ws.

$ https://github.com/sreesms/um7_imu_Robot_localization.git

$ cd catkin_ws && catkin_make

After successful make, run the following to lauch the um7 and robot localization packages. Here we are expecting the /odom is publishing the odometry data from the robot platform (such as Husky,Jackal).

$ roslaunch um7 um7.launch

This will publish the imu raw data in /imu/um7 topic.

$ rostopic echo /imu/um7

To view the IMU data in rviz use the imu_link frame and add the /imu/um7 topic.

imu_filter_madgwick is used to filter and fuse the raw data from the IMU devices. It fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation quaternion, and publishes the fused data on the imu/data topic.

To view fused data check the topic

$ rostopic echo /imu/data

To view the output of the robot localization

$ rostopic echo /odometry/filtered

If the /odom and /imu/data is publishing the data properly, you can view the same in rviz in the /odom frame by adding the /odometry/filtered topic.

References

1. https://github.com/ros-drivers/um7
2. https://github.com/CCNYRoboticsLab/imu_tools
3. https://github.com/cra-ros-pkg/robot_localization