https://github.com/Hongtai-Yuan/Robot_Localization
这个仓库用于在ros2 humble中整合九轴IMU和车轮Odom的数据，其中的参数是经过多次实验后自行调整的。
https://github.com/Hongtai-Yuan/Robot_Localization
humble imu odom ros2-humble
Last synced: 14 days ago
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这个仓库用于在ros2 humble中整合九轴IMU和车轮Odom的数据，其中的参数是经过多次实验后自行调整的。
- Host: GitHub
- URL: https://github.com/Hongtai-Yuan/Robot_Localization
- Owner: Hongtai-Yuan
- License: other
- Created: 2024-11-17T03:31:28.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2025-01-25T13:54:25.000Z (9 months ago)
- Last Synced: 2025-04-11T12:25:52.649Z (6 months ago)
- Topics: humble, imu, odom, ros2-humble
- Language: C++
- Homepage:
- Size: 6.09 MB
- Stars: 8
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.rst
- License: LICENSE
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README
Robot_Localization
==================
This warehouse is used to integrate nine-axis IMU and wheel ohmmeter data in ros2 humble, the parameters of which I adjusted by myself after many experiments.
## Requirement
You'll first need a wheeled odometer (odom1) and a nine-axis IMU from either Magic Technologies or Alpriz Energy. The driver code is wrong in Humble, but I've corrected it in my other warehouses, and it's called imu/data_raw.
## HOW TO BUILD
```bash
$ colcon build
```
## HOW TO USE
### STEP1：START YOUR ODOM1
```bash
$ . install/setup.bash
$ ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -v6
```
### OR
```bash
$ . install/setup.bash
$ ros2 run micro_ros_agent micro_ros_agent serial -b 115200 --dev /dev/ttyACM0 -v6
```
### STEP2：START YOUR IMU
```bash
$ . install/setup.bash
$ ros2 launch gnss_imu_sim imu_driver_launch.py
```
### STEP3：START LOCALIZATION
```bash
$ . install/setup.bash
$ ros2 launch robot_localization ekf.launch.py
```