13 October 2021 3 4K Report

Im trying to get Velocity in order to control underwater swarm ROV. I can use the acceleration and to Euler integration but the error will be accumulated over time. As we are having a swarm (many small robots) Im limited with sensors on board. So in order to get more accurate Velocity estimation was thinking of sensor Fusing of IMU and odometry. As don't have any odometry sensors came to some out of the box solution.

So as I have access to the motor (thruster- propeller) signals and the robot can move to maximum and constant speed. Means the rotation of the propeller have a maximum limit and when they reach that limit they can maintain that maximum. So was thinking of some mathematical model that can be used to provide me with odometry and than use some of the ROS packages for sensor fission(robot_lokalization or hector_pose_estimation) to get accurate Velocity

So I need a help in that mathematical model how to get odometry from the motors-thrusters. Any help with that and possible ROS node (C++) implementation?

Thanks

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