ekf-sensor-fusion
CommunityFuse odometry, IMU, GPS with ROS 2 EKF.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Configure robot_localization EKF to fuse multiple odometry, IMU, pose, and twist sources into a single, smooth state estimate for ROS 2 robotics development.
Core Features & Use Cases
- 15-state EKF with configurable inputs: supports odom0, imu0, pose0, twist0 sources and corresponding fuse masks.
- 2D-mode ready: provides two_d_mode configuration to constrain Z, roll, and pitch for ground robots.
- Frame and timing guidance: includes map/odom/base_link framing options, sensor timeout, and transform handling for reliable localization.
Quick Start
Load this EKF configuration into robot_localization and start the ekf_filter_node with the configured topics.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: ekf-sensor-fusion Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#ekf-sensor-fusion Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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