IMU Odometry Correction

[chrisl8]

I am working through the ROS tutorials to get an idea of how the ROSbots works.

It is not clear to me from working through this page:

Simple kinematics for mobile robot · Husarion Docs

Where is the IMU data used to correct the encoder data from the wheels for the final odometry position information?

Is this already done on the CORE2 somewhere without us seeing it, or is there something else I have not noticed?

[Hubert_Zwiercan]

Hi chrisl8,

You can check code in Husarion GitHub (ROSbot.cpp, wheel.cpp), libraries for ROSbot are here.

As you will see, we don’t use IMU to correct robot position in default firmware. You can add this feature by creating new ROS node.

Best regards,
Hubert