manankharwar/fusioncore

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.

19 best points · 16 comments · 5 Hacker News posts · 383 GitHub stars · View on GitHub

Hacker News discussions

• FusionCore: ROS 2 sensor fusion (IMU and GPS and encoders) (19 points, 10 comments, by kharwarm, 2026-04-24)
• Show HN: FusionCore: ROS 2 sensor fusion that outperforms robot_localization (11 points, 2 comments, by kharwarm, 2026-04-28)
• FusionCore: ROS 2 sensor fusion (IMU and GPS and encoders) (4 points, 2 comments, by notmanaan, 2026-04-30)
• Switched from robot_localization to a single-node GPS fusion setup (2 points, 1 comments, by kharwarm, 2026-04-27)
• FusionCore ROS 2 sensor fusion replacing deprecated robot_localization (1 points, 1 comments, by kharwarm, 2026-04-12)