Filtered Sensor Data

[Sharwin24]

Screencast.from.2025-03-18.02-05-05.webm

An Alpha-Beta Filter was used to improve the measurements taken from the Time-of-Flight sensor and the temperature sensor on the BNO055 IMU. The filter's error was measured using the robot's kinematics as "ground truth" and landed in the ballpark of approximately 16mm of error in the Z direction. The error is and seems large but is more information available to the complementary filter using Forward Kinematics (measured in real-life to be accurate with approximately 1mm of error) to estimate the end effector position.

The parameters of the filter are passed into the ROS node in the sensors_config.yaml file and can be dynamically using ros2 param set to adjust the filter during operation.