multi-sensor-fusion
CommunityRobust multi-sensor fusion for localization
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Fuse multiple sensor sources for localization to deliver a stable, accurate pose estimate in dynamic environments, reducing drift and inconsistent updates.
Core Features & Use Cases
- Integrates wheel odometry, IMU, visual odometry, and lidar odometry into a unified state estimate with EKF/UKF fusion.
- Supports per-sensor configuration for absolute vs differential measurements, covariance tuning, and rejection of outliers.
- Use cases include outdoor robots with drift correction, indoor mapping with high-rate localization, and robust operation under partial sensor dropout.
Quick Start
Configure the EKF-based fusion with the four sensors and validate with a quick diagnostic bag run.
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: multi-sensor-fusion Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#multi-sensor-fusion Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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