IMU - FontysAtWork/ESA-PROJ GitHub Wiki

Description

An Inertial measurement unit(IMU) could be integrated in an attempt to increase the accuracy of the robot position. Since we're using AMCL there isn't a direct way to integrate this directly. The most common way that people do this is to use either robot_pose_ekf or robot_localization to fuse together the IMU and odometry data, and publish the fused result as a new TF frame. The ~odom_frame_id in AMCL can be specified to be this new filtered frame (usually called /odom_combined with robot_pose_ekf and /odom_filt for robot_localization).

As discussed in LiDARs, we combined two lasers and had good accuracy results. We're in discussion if this amount of effort is worth it, for the additional accuracy we might get. As of now with the dual lasers set-up without advanced finetuning, we already have very acceptable results with no cumulative drift . Due to how odometry drift is corrected by AMCL, this is resource intensive for the computer this is running on. If IMU is added it might alleviate this stress.