Re: Problem in fusing Stereo odometry and IMU data using ekf_localization package

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problem-in-fusing-Stereo-odometry-and-IMU-data-using-ekf-localization-package-tp10075p10080.html


If you are navigating in map frame, the robot can jump. See definition of map frame here REP-105. What you want to do is to control the robot in odom frame instead, then adjust the goal in odom frame if there is a re-localization.

Visual odometry doesn't do any localization, rtabmap does. You can feed wheel odometry/IMU fusion directly to rtabmap node instead of using visual odometry.

cheers,
Mathieu