IMU plug in noise data of linear acceleration
We have a model in gazebo with an imu, the code is below which is the standard plugin structure for an imu:
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.
Asked by Andrea93.am on 2019-01-03 11:38:46 UTC
Answers
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.
Asked by josephcoombe on 2019-01-03 14:05:46 UTC
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