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IMU Yaw Mesurement in Odometry #601

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jgueldenstein opened this issue Oct 9, 2024 · 0 comments
Open

IMU Yaw Mesurement in Odometry #601

jgueldenstein opened this issue Oct 9, 2024 · 0 comments
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enhancement New feature or request navigation

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@jgueldenstein
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The yaw estimated by the IMU could be used in the odometry that feeds into the localization. This could help us to prevent cases where the robot is turned around (like the game against NuBots) on the center circle.
IMU yaw drift should be less than the error from the walking odometry.

Care must be taken as the IMU orientation measurement is already used in the localization when the robot falls. This may need to be disabled to not use it twice.

@jgueldenstein jgueldenstein added enhancement New feature or request navigation labels Oct 9, 2024
@github-project-automation github-project-automation bot moved this to 🆕 New in Software Oct 9, 2024
@Flova Flova self-assigned this Oct 10, 2024
@jaagut jaagut moved this from 🆕 New to 🔖 Ready in Software Oct 14, 2024
@val-ba val-ba assigned val-ba and unassigned Flova Oct 15, 2024
@val-ba val-ba moved this from 🔖 Ready to 🏗 In progress in Software Oct 15, 2024
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