Re: Angles and axes velocity informations from rgbd_odometry node

Posted by g.bartoli on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Angles-and-axes-velocity-informations-from-rgbd-odometry-node-tp924p929.html

Hi vmhoang68,
If it can be of any help, I'm currently using the robot_localization EKF node to fuse wheel and rgbd odometry, too. I work in planar mode (non-holonomic robot) and for both I set EKF to get only XYH without linear neither angular velocity, because with them I had a much worse accuracy performance. The biggest imrprovement was then obtained by getting the "heading" from an IMU sensor and sending it to the EKF, too.

- Guido