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imu_zupt package from imu_zupt repo

imu_zupt

Package Summary

Tags No category tags.
Version 0.0.2
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/fixit-davide/imu_zupt.git
VCS Type git
VCS Version iron
Last Updated 2024-12-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Zero Update Velocity Algorithm for ROS 2 Imu sensor (yaw/heading)

Additional Links

No additional links.

Maintainers

  • Davide Graziato
  • Patrick Roncagliolo

Authors

  • Davide Graziato

Zero-Velocity Update Algorithm: (ZUPT)

Ubuntu 22.04 Iron Build Ubuntu 22.04 Rolling Build

A simple Zero-velocity update algorithm which provides accurate state information in order to maintain the reliability of the measurements incoming from the inertial navigation system once the stationary conditions are satisfied. The cumulative error while stationary due to the movement of the Earth on the Yaw angle is estimated mathematically and subsequently removed. The filtered measurements are then published through a ROS topic.

Parametrization:

  • topics:
    • imu: Input topic for the IMU data. (sensor_msgs::msg::Imu)
    • input_status: Input topic for the system’s status. (std_msgs::msg::Bool)
    • filter_status: Output topic that publish the filter’s state. (std_msgs::msg::Bool)
    • output: output topic for the filtered measurements. (sensor_msgs::msg::Imu)
  • zero_velocity_detection:
    • seconds: time frame (in sec) which the algorithm will wait to establish if the stationary conditions are met. (double)
    • publish: to publish whenever the ZUPT is active or not. (bool)
  • covariance:
    • override: if the covariance has to be overwritten (default: true). (bool)
    • value: set a fixed covariance value to add to the filtered measurements. (double)
  • error:
    • publish: choose if the calculated error has to be published. (bool)
    • in_degrees: the Iaw error can be published in degrees and not in radians. (bool)
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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