Comments (4)
mintar
commented on August 18, 2024
This really looks like a bug. Can you upload that test code somewhere?
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tomas-c
commented on August 18, 2024
http://s.tomui.lt/failai/imu_test.zip
just run:
roslaunch imu_test test.launch
You can also find imu_filter-modified.cpp file in there which produces the results seen in the second picture.
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mintar
commented on August 18, 2024
I've narrowed it down to the three uses of invSqrt() instead of 1 / sqrt(). I'll investigate further tomorrow.
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mintar
commented on August 18, 2024
The pull request above solves the problem. Thanks again for your great bug report + test code!
As a side node, I never had much luck using the magnetometer (it caused a lot of drag), so I just disable it and use the filter without it.
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Related Issues (20)
- Yaw Angle in ENU HOT 1
- Unable to visualise `/camera/imu` in Rviz HOT 2
- CMakeLists / findpackage improvements HOT 1
- How to get x, y, z values from IMU? HOT 3
- Problem with magnetic use complementary filter HOT 2
- Transform between IMU data and Mag data HOT 2
- Unstable and slowly changing output data in madgwick filter HOT 3
- Unable to set ~publish_debug_topics to True for imu_complementary_filter HOT 1
- Confusion in filtered quaternion results HOT 1
- Make "do_bias_estimation" reconfigurable during runtime
- output of imu_filter_madgwick is skewed over time HOT 2
- how can solve this problem? HOT 1
- Yaw offset compared to Ignition Gazebo IMU System HOT 1
- Incorrect variance calculation HOT 2
- rviz2 visualization unstable
- Is it normal to get these errors using Madgwick filter?
- Relsense Depth camera imu data filtering using mdgwick filter but its not giving stable and correct values HOT 1
- "odom" passed to lookupTransform argument target_frame does not exist. HOT 3
- Issue with imu_filter_madgwick in slope when using a magnetometer HOT 6
- 亲测可用，只是要从cpp中修改订阅的imu话题
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