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No covariance values for imu sensor plugin libgazebo_ros_imu_sensor.so

asked 2021-03-01 09:20:53 -0600

Tristan9497 gravatar image

Hi,

is there any way to set covariance values for the imu plugin? I am using it to stabilize my wheel odometry using robot_localization and it complains about the imu message having no values in its covariance data and sets it to something very small.

Since i want to use some noise i would like to adjust the covariance matrix accordingly. Or do i have to switch to the hector imu plugin?

I would be thankful for any tips regrading this.

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answered 2022-08-15 07:28:49 -0600

Austin gravatar image

Looking at the source code there is not. It seems you'll ether have to recompile the source code, or write a node to take in IMU data and add your own covariance values (that's what I'm doing).

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Asked: 2021-03-01 09:20:53 -0600

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Last updated: Mar 01 '21