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

jeremysalwen

I looked into open source sensor fusion libraries for open mower, it seemed like the WOLF framework was very promising as a pluggable sensor fusion system. http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/w... . I only used it briefly though. I hate to say this, but this submissions readme seems obviously AI generated.

tamimio

It looks interesting, but I hate ROS so most likely won’t try it.

ZihangZ

Built a ROS 2 cycling helmet. IMU + GPS, but we didn't fuse them, on purpose. Speed is just haversine between GPS fixes. IMU only does turn detection and crash/fall. No EKF. Under bridges or urban canyons I'd rather have speed go stale and drop to zero after a few seconds than have a filter keep extrapolating from IMU bias and tell the rider they're still doing 20 km/h. Other thing: safety stays below ROS. Crash/fall runs on the MCU next to the IMU; ROS just subscribes to /safety/event. Pi reboots, helmet still alarms. How does FusionCore handle long GPS outages: gate the output, or keep predicting?