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IMU plug in noise data of linear acceleration

asked 2019-01-03 10:38:46 -0600

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We have a model in gazebo with an imu, the code is below which is the standard plugin structure for an imu:

image description

the measurements are all noise and seems like that the noise increase if the value of the linear acceleration increase. Someone has any suggestion? Below the image relative to the data.

image description

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answered 2019-01-03 13:05:46 -0600

I ran into this issue recently trying to use Google Cartographer on bagged data from Gazebo.

The 3D SLAM algorithm performed very poorly, and I believe that a major cause was noise on the /imu topic.


While I haven't done so yet, I plan to low-pass filter the /imudata in the bag file and see how that affects SLAM performance.

You could implement a low-pass filter in ROS Node - subscribe to a /imu topic and publish a /imu_lpf topic.

Long term, it might make sense to implement a filter directly within the plugin. Fork the gazebo_plugins package and(or) submit PR.

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Asked: 2019-01-03 10:38:46 -0600

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Last updated: Jan 03