Hi everyone,
I’ve been building FusionCore over the past few weeks… It’s a ROS 2 Jazzy sensor fusion package designed to replace robot_localization. The filter is working correctly in simulation, and I’m now looking for people to test it on real hardware.
What it does is that it essentially combines IMU, wheel encoders, and GPS into one reliable position estimate at 100Hz. UKF-based, ECEF GPS natively, automatic IMU bias estimation, Mahalanobis outlier rejection, adaptive noise covariance. One YAML config file, no manual covariance tuning.
I’m specifically looking for:
- Anyone who has hit the robot_localization deprecation wall and hasn’t found a clean path forward
If you’re willing to share your setup, I will personally help you get it running…. and I’ll build around your specific configuration. Your robot, your sensors, your use case becomes the thing I optimize for next. Whatever doesn’t work on your hardware is what I fix first.
Open a GitHub issue, reply here, or DM me directly.