ukf-sensor-fusion
CommunityTune UKF for robot_localization sensor fusion.
Software Engineering#navigation#ros2#sensor-fusion#kalman-filter#robot_localization#ukf#state-estimation
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
UKF-based sensor fusion for the robot_localization package enables robust state estimation in non-linear systems where EKF linearization is insufficient.
Core Features & Use Cases
- UKF parameters: alpha, kappa, and beta control sigma-point distribution for nonlinear propagation.
- Configurable node: ukf_filter_node with the same input structure as EKF, including odom, imu, and map frames.
- Practical guidance: switch between EKF and UKF by swapping the executable in the launch file, enabling direct comparison on real or simulated data.
Quick Start
Load the UKF configuration by enabling ukf_filter_node with alpha, kappa, and beta and switch to ukf_node in the launch file.
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: ukf-sensor-fusion Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#ukf-sensor-fusion Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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