IMU data error

[robustfieldautonomylab]

IMU data error

[wwtinwhu]

My imu device is xsens mti-10 driver and driver http://wiki.ros.org/xsens_driver,

I opened run.launch first and then open velodyne VLP16, it showed pointcloud on rviz.
But, when i use imu it will be stoped and show MSG to TF : Quaternion Not Properly Normalized.

thx for help!

hello, I also met this question. Did you solve it now?

[louis960126]

Hi, I found that MTI-10 can't support orientation , so i use the IMU-TOOLS to calculate the orientation.

[wwtinwhu]

Hi, I found that MTI-10 can't support orientation , so i use the IMU-TOOLS to calculate the orientation.

Thank you for your reply. I also solved this problem. By the way, did you have a better result when use imu? I have a bad result using imu. What about you? I don't know what is wrong. The imu frame did align with lidar

[louis960126]

i have two result , one is small scenery ,the other is big scenery. in small scenery with or without IMU all looks good, but in big scenery it may drift more than 10m. I am still trying kitti data set or some different scenery.

[wwtinwhu]

i have two result , one is small scenery ,the other is big scenery. in small scenery with or without IMU all looks good, but in big scenery it may drift more than 10m. I am still trying kitti data set or some different scenery.

We may have a same problem... May you leave a email so I can keep in touch with you? The reason that when use imu some frames can't not match I think is the inital transform[6] is not correct. But why this inital transform from imu is not correct I can't figure out.

[louis960126]

@wwtinwhu here is my E-mail : [email protected]

[brunoeducsantos]

@louis960126 you need to use a filter to compute orientation because Lidar IMU doesn't have orientation.

[calvertdw]

you need to use a filter to compute orientation because Lidar IMU doesn't have orientation

@BrunoEduardoCSantos Can you briefly describe what you mean? Can you link to some code or module that does the filtering?

I can't figure out how one "aligns" the IMU to the Lidar. Right now I have a LORD Microstrain 3DM-GX5-15 taped to the top of a VLP-16 on a cart and the result is slightly worse when I publish the IMU data than without.

[HappySamuel]

Hi, I found that MTI-10 can't support orientation , so i use the IMU-TOOLS to calculate the orientation.

Thank you for your reply. I also solved this problem. By the way, did you have a better result when use imu? I have a bad result using imu. What about you? I don't know what is wrong. The imu frame did align with lidar

HI @wwtinwhu

Can you share your code on solving this problem? As i am using ouster lidar, which come along with built-in IMU, however it only provides 3 accelerations and 3 angular velocities. But lego-loam requires the orientation information from IMU.

Best Regards,
Samuel

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