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Problem about IMU coordinate system #326
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Please change the following true/false values. Alternatively, modifying the tf of base_link-imu is also acceptable. |
It may not be an issue with the IMU coordinate system. If you could provide the rosbag, I can check what the problem might be. |
This is the link of the ros2 bag: https://drive.google.com/drive/folders/1gwB4HfVbIHz_Lkaxrx9eUYSB5y6vEhls?usp=drive_link I am using:
I only have Thanks you a lot, sorry for taking your time. |
Some update: |
Can you show me the YAML file you're using? |
I checked the /rav4/ma65/nmea_sentence in your rosbag, but it seems like it's not RTK, right? Since the canless mode requires RTK positioning, I feel like it wouldn't be able to position... |
This is my settings of config:
I added a message of type I am not using RTK, so I set up the RTK bit manually. My target is receive an acceptable localization result with more than 10 hz. So I try to replace the computed velocity with wheel speed to find whether it works. I will check the hardware settings and test whether it is the speed sensor yeild the bad performance. Thanks for the suggestion. |
Sorry to bother,
I am using Tamagawa TAG300N1000 IMU in egaleye, but the result is not satisfied. The movement that eagleye predicts seems having a wrong direction against the gnss signal.
Blue line is gnss signals and the red line is the prediction from eagleye. When the prediction activates, it owns a correct distance but wrong direction.
I guessed it is due to wrong coordinate system. I would like to make sure whether my IMU settings is correct. IMU in my system has x-direction for head of car, y-direction indicates the right of car, and z-direction points to the ground currently.
Do I need to add transform or change the settings of the imu to make the eagleye works?
Thanks.
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