fixit-davide / imu_zupt

ZUPT Algorithm for filtering the IMU's data.

Hello there,

My name is Davide and I am a Mechatronic Engineer graduated from Politecnico di Torino. I am currently working as a Research Assistant in the Department of Electronics and collaborating with Thales Alenia Space for the development of Autonomous Navigation Systems able to push the boundaries of robotic in the context of space exploration.

With my multidisciplinary background, I possess a comprehensive understanding of mechanical, electrical, and computer engineering principles, allowing me to approach robotics challenges from a holistic perspective. I apply this knowledge to develop innovative and efficient solutions for space robots, leveraging my expertise in software development and autonomous navigation.

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imu_zupt's Issues

angular velocities and linear accelerations passthrough

Atm the node publishes only the corrected orientation measured by the imu. We should add a passthrough behaviour for angular velocities and linear accelerations

README mismatch over current functionality

The README currently describes the subscription to an odometry message, while boolean rover status is now expected by code.

Make `iron` the default branch

zupt status always set to true

In the bag 2023-07-03_17-07-44____20_minutes_test_1 the topic /localisation/imu/zupt_status has data always set to true.
This leads to a constant orientation and zero angular velocity in topic /localisation/imu/data_zupt.

Usage help

May I ask how to run this program and what is the format of the data？ Thanks!!!

Implement CI