OAK cameras with IMU publish sensor_msgs/Imu through depthai-ros: and users building outdoor mobile robots with OAK-D often ask the next question: how do I fuse this IMU data with wheel odometry and GPS into a globally-referenced state estimate?
FusionCore: a ROS 2 UKF available on apt for Jazzy and Humble... subscribes directly to the IMU topic published by depthai-ros and fuses it with wheel odometry and GPS:
sudo apt install ros-jazzy-fusioncore-ros
One config line if the OAK IMU topic differs from the default /imu/data:
imu.frame_id: oak_imu_frame
The OAK visual odometry output (nav_msgs/Odometry) can also feed in as a secondary velocity source alongside wheel encoders:
encoder2.topic: /oak/stereo_inertial_odometry
Would it be useful to add a short note in the README or wiki about pairing the OAK IMU with a downstream GPS + IMU state estimator for outdoor mobile robots? Happy to open a PR if so.
OAK cameras with IMU publish
sensor_msgs/Imuthrough depthai-ros: and users building outdoor mobile robots with OAK-D often ask the next question: how do I fuse this IMU data with wheel odometry and GPS into a globally-referenced state estimate?FusionCore: a ROS 2 UKF available on apt for Jazzy and Humble... subscribes directly to the IMU topic published by depthai-ros and fuses it with wheel odometry and GPS:
One config line if the OAK IMU topic differs from the default
/imu/data:The OAK visual odometry output (
nav_msgs/Odometry) can also feed in as a secondary velocity source alongside wheel encoders:Would it be useful to add a short note in the README or wiki about pairing the OAK IMU with a downstream GPS + IMU state estimator for outdoor mobile robots? Happy to open a PR if so.