ROS 2 UKF sensor fusion: GPS+IMU+wheels, zero manual tuning
FusionCore is a production-grade ROS 2 sensor fusion library. It runs a 22-state UKF fusing GPS, IMU, and wheel odometry with adaptive noise estimation (no manual Q tuning), Mahalanobis outlier rejection for GPS spikes and IMU glitches, and ECEF-native GPS handling that works at any scale. Benchmarked against robot_localization on the NCLT outdoor driving dataset: FusionCore wins on 5 of 6 sequences, up to 4 × lower ATE. Apache 2.0.
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