CODEWITHSUNDEEP
rossensor-fusionimu
Bob9710
Bob9710

Reputation: 205

How to set up parameter in hector_localization stack to fuse IMU and Barometer (Pressure sensor)?

Im checking the hector_localization stack, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements and also support barometric pressure sensors. I check the launch which is this one

<?xml version="1.0"?>
<launch>
  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation" />
  <node pkg="rviz" type="rviz" name="hector_pose_estimation_rviz" args="-d $(find hector_pose_estimation)/rviz_cfg/hector_pose_estimation.rviz" />
</launch>

But can not find the way hot to set up the hector_pose_estimation node and the launch file to get IMU and Pressure (barometer) data as input. Any help?

Thanks

Upvotes: 0

Views: 206

Answers (1)

BTables
BTables

Reputation: 4833

You have to remap the input topics hector is expecting to the topics you're systems are outputting. Check this page for a full list of topics and params. In the end your launch file should look something like this. Note you need to put in your own topic names.

<?xml version="1.0"?>
<launch>
  <node pkg="hector_pose_estimation" type="pose_estimation" name="hector_pose_estimation">
    <remap from="raw_imu" to="/your_imu_topic" />
    <remap from="pressure_height" to="/your_barometric_topic" />
  </node>
  <node pkg="rviz" type="rviz" name="hector_pose_estimation_rviz" args="-d $(find hector_pose_estimation)/rviz_cfg/hector_pose_estimation.rviz" />
</launch>

Upvotes: 0

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