Orientation & IMU ODOM Fusion

IMU

Units and orientation need to be correct, these checks will confirm behaviour

• Rover sat normally, measure +9.81 meters per second squared for the Z axis.
• Rover rolled +90 degrees (left side up), the acceleration should be +9.81 meters per second squared for the Y axis.
• Rover pitched +90 degrees (front side down), it should read -9.81 meters per second squared for the X axis.
• Drive forward, X-position should increase and its X-velocity should be positive.
• Turn rover counter-clockwise, yaw angle should increase, and its yaw velocity should be positive.

Notes

Yaw is zero when pointing east.

ekf_localization_node config

x,             y,              z
roll,          pitch,          yaw
x velocity,    y velocity,     z velocity
roll velocity, pitch velocity, yaw velocity
x accel,       y accel,        z accel

ROS

• REP-103 - Units and signs
• REP-145 - Sensor conventions