Relsense Depth camera imu data filtering using mdgwick filter but its not giving stable and correct values

[adinathkale01]

Hi, I am using a Realsense Depth D455 camera to get Imu data, from Imu data I want to calculate yaw, but before calculating data from Realsense i.e acceleration ( along 3 axes) and angular velocity (along 3 axes) 6 DOF data is passing to madgwick's filter, it will give us quaternion on "tf" topic. These quaternion values are not stable even when the camera is at a stable position values are continuously increasing. could you please give me proper guidance on how to use Madgwick Filter. can add Extended Kalman filter in order to remove if any uncertainty in the data , so that I can get proper filtered data.

[sanjay-swain]

Can you check the gyro stream outputted from the realsense node? I am getting bad data on /camera/imu topic.. but on realsense-viewer the data looks fine..