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imu_ekf_ros

A C++ and python ROS package that fuses the accelerometer and gyroscope of an IMU to estimate attitude.

After catkin_make and compiling the scripts, cd into the launch folder and type: roslaunch cpp_ekf.launch for the C++ version (better and more up to date). roslaunch ekf.launch for the Python version (probably broken).

-This node subscribes to sensor_msgs/IMU messages on the topic '/imu/data', containing accelerometer and gyroscope data.

-This node publishes a quaternion to 'AHRS_EKF_quat'.

-To visualize, run rviz, create an Axes and change the reference frame to 'ENU'. Create another Axes and change the reference frame to 'IMU'.

Wait for 5 seconds for the initialization procedure. Update the following noise terms inside code for your IMU:

	sigma_xg # Gyro (rate) random walk  
	sigma_nug # Gyro white noise  
	sigma_xa # Accel (rate) random walk   
	sigma_nua # Accel white noise

Tested with Xsens MTI-20 and Sensonor STIM300. Primary reference is 'Aided Navigation: GPS with High Rate Sensors' by Jay A. Farrell, chapter 10.