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FusionCore

ROS 2 sensor fusion that outperforms robot_localization. ROS 2 localization for outdoor robots: IMU, wheel encoders and GPS fused in a 23-state UKF at 100 Hz. When the estimate goes wrong it reports which sensor and why, instead of drifting silently. Apache 2.0. I built sensor fusion for a mobile robot and reached for robot_localization like everyone does.

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