Re: 3D-map is so bad

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-map-is-so-bad-tp8867p8879.html

thanks a lot mattieu for your great support,

Query:
you mentioned about IMU that it seems not working properly. how did you identify that?
I have also sensed the same thing, because when i move the vehicle clockwise, yaw should be negative. but I do not see any change in the sign of yaw when i turn left or right (i am transforming quaternion to rpy through a python code).

in a file, i have read that: "An IMU that is placed in its neutral right-side-up (ENU) position on a flat surface will: Measure **+**9.81 meters per second squared for the Z axis".
but my z axis shows -9.8, that I also asked this from clearpath team, they told that this IMU is based on ENU, because it shows -9.8. it means that z is up and because of gravity it shows -9.8.


Query2:
what does "imu_filter_madgwick" do?

query3:
and why in EKF robot-localization, you used . while you have mapped     <remap from="imu/data_raw" to="/gx5/imu/data"/>  in the imu_filter_madgwick part. should not we use /gx5/imu/data in the fusion part?

thanks in advance