guide for IMU integration with xtion

[bruce_che]

Hi,
     @matlabbe   I am new to rtabmap and want to increase the performance by combine  imu(razor_imu_9dof sparkfun )  and xtion.
     
     I want to know what lanch files do I need to run ?
        openni2.launch  to provide rgbd camera.
        and?
      Very thankful  if you can replay.
     Thank you

bruce

[matlabbe]

Hi Bruce,

You may look at this example, change freenect_launch by openni2_launch package and the IMU part by your imu package.

Note however that a more accurate extrinsic calibration between IMU and camera can be computed using kalibr package to have better results.

cheers,
Mathieu

[matlabbe]

You can look at this post too (pictures): https://answers.ros.org/question/242417/sensor-fusion-of-imu-and-asus-for-rtab-map-with-robot_localization/