FusionCore: ROS 2 sensor fusion (IMU and GPS and encoders)

FusionCore ROS 2 sensor fusion: IMU + wheel encoders + GPS fused via UKF at 100 Hz. 22-state filter with IMU bias estimation, adaptive noise covariance, and chi-squared outlier rejection on every sensor. Why I built this I needed sensor fusion for a mobile robot project and reached for robot_localization like everyone does. It works well. But I wanted a filter that estimated IMU gyro and accelerometer bias as part of the state vector, adapted its noise covariance from real sensor behavior rather than config values, and rejected outliers on every sensor update: not just GPS. So I built FusionCore. It's a 22-state UKF that fuses IMU, wheel encoders, and GPS natively. Gyro and accelerometer bias are estimated continuously as filter states.

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Excerpt limited to ~120 words for fair-use compliance. The full article is at GitHub.