FusionCore: ROS 2 sensor fusion (IMU and GPS and encoders)
Summary
FusionCore is a ROS 2 sensor fusion SDK that fuses IMU, wheel encoders, and GPS into a robust position estimate with self-tuning noise covariance. It offers outlier rejection, adaptive noise, ZUPT, GNSS quality gating, lever-arm corrections, and deep integration with Nav2; includes installation, testing, simulation, and hardware config support.