This repo includes an example code of the multi-IMU proprioceptive odometry algorithm described in the paper:
Multi-IMU Proprioceptive Odometry For Legged Robots
The only dependency is the Casadi library (V3.5.5). It can be downloaded from Casadi official website. Choose the version that matches your OS and Matlab version. Download the file and extract its content to the folder casadi.
Download dataset from Google drive folder.
In the script scripts/RUN_MAIN.m, set variable file_path to the path of the dataset rosbag file. Then run the script.