IMU - roll can fluctuate between 10 degree difference. Is that normal?

[ok-kewei]

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Required Info
Camera Model	D435i
Firmware Version	5.14.0
Operating System & Version	Ubuntu 20.04
Platform	Laptop
ROS Version	Noetic
Language	{ROS, Python}

I run this imu filter madgwick (roslaunch imu_filter_madgwick imu_filter_madgwick.launch ) and convert them quaternion_to_euler: roll, pitch yaw.
The realsense camera sensor is mounted on a static place (no motion), but the roll value fluctuated a lot, it showed between 30 degree to 40 degree. The gap is like 10 degrees. Is that normal?

Thanks a lot for your help. :)

[MartyG-RealSense]

Hi @ok-kewei Raw RealSense IMU data can be sensitive to change and 'noisy'.

The IMU can be calibrated using the Python tool at the link below.

https://github.com/IntelRealSense/librealsense/tree/master/tools/rs-imu-calibration

https://www.intelrealsense.com/wp-content/uploads/2020/07/IMU_Calibration_Tool_for_Intel_RealSense-Depth_Cameras_Whitepaper.pdf

[ok-kewei]

ok, got it. Thanks. :)

[MartyG-RealSense]

Hi @ok-kewei Do you require further assistance with this case, please? Thanks!

[ok-kewei]

Hi @MartyG-RealSense, thanks for your reply. You may close the case. :)

[MartyG-RealSense]

You are very welcome, @ok-kewei - thanks very much for the update!