IMU linear acceleration to Linear velocity

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Hi Im doing some UUV simulation in gazebo and have IMU that gives me 9DOF namely my data is

Cheader: 
  seq: 301770
  stamp: 
    secs: 6064
    nsecs: 844000000
  frame_id: "thrbot/imu_link"
orientation: 
  x: 0.018933040808
  y: -0.00209639450915
  z: 0.337785931366
  w: -0.941030185311
orientation_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]
angular_velocity: 
  x: -8.94731200724e-05
  y: 0.000117146098958
  z: 7.81746250685e-06
angular_velocity_covariance: [1.1519236000000001e-07, 0.0, 0.0, 0.0, 1.1519236000000001e-07, 0.0, 0.0, 0.0, 1.1519236000000001e-07]
linear_acceleration: 
  x: 0.0865246576615
  y: -0.363323777859
  z: 9.79281330072
linear_acceleration_covariance: [1.6e-05, 0.0, 0.0, 0.0, 1.6e-05, 0.0, 0.0, 0.0, 1.6e-05]

I would like to get the linear velocity and some how use the orientation for less error when do the double integration. I also have some 3D Pose sensor. So Its underwater robot simulation. I mean I have the IMU data for the orientation so some how want to incorporate that in my integration when get the velocity values. Any help?

imu ros c++
1 Answers

It sounds like you want to be able to do sensor fusion and localize your robot off that. In this case getting linear acceleration off an imu is exactly what the ros ekf package is for. It handles sensor fusion and will return odometry data.

user_119362290
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