Sorry it took so long, but we find some odd behavior with IMU sensors in ROSbot. We made a few changes becouse the gravity vector was scaled incorrectly. You may have seen value of acceleration equals 1.0 (i.e. [g] unit) when it was 9,81 m/s^2 in real, so we change unit by changing BNO055
accel_scale in ImuDriver.cpp file. Now our code is fully complies with the REP 103 ROS standard. Whats more, we changed DMP configuration (MPU) and data vector type (BNO) and gravity vector is included now, so it is desirable now to seeing 9.8 m/s^2 when robot stay on a flat surface
rosbot_ekf parameter is information for the Kalman filter that lead to remove gravity vector. That it is clearer now, I hope.
You can find now the newest version of
rosbot_ekf package and the newest firmware
0.15.0 tag. By analyzing this commit, you are able to find so answers on your questions.