Question about IMU information usage

Posted by jacklu333333 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Question-about-IMU-information-usage-tp8469.html

In the rtabmap, it does subscribe to the IMU information. I wonder how is the information being utilized. I couldn't find detailed information about it.
Does the rtabmap only use the orientation information inside the IMU topic? Or it will use the linear acceleration and angular acceleration information as well?

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Because in my case, I add an additional inertial sensor for my robot. Due to the fact that my robot base only has the gyroscope(without accelerometer). I refer to some of the examples of merging inertial sensor information from here.  Hence, I use madgwick filter to obtain the orientation data for the additional IMU sensor. However, without magnetic, the yaw would be randomly initialized, and with a magnetic sensor, it would provide absolute orientation.

Hope someone can help me.
Best Regards,
Jack Lu