FusionCore
ROS 2 UKF sensor fusion: GPS+IMU+wheels, zero manual tuning
What it does
FusionCore is a production-grade ROS 2 sensor fusion library. It runs a 22-state UKF fusing GPS, IMU, and wheel odometry with adaptive noise estimation (no manual Q tuning), Mahalanobis outlier rejection for GPS spikes and IMU glitches, and ECEF-native GPS handling that works at any scale. Benchmarked against robot_localization on the NCLT outdoor driving dataset: FusionCore wins on 5 of 6 sequences, up to 4 × lower ATE. Apache 2.0.
Does the same job
all alternatives →- FRFusionCore: ROS 2 sensor fusion that outperforms robot_localizationApr 2026 · github.com · ▲11
I built sensor fusion for a mobile robot and reached for robot_localization like everyone does. After spending too long fighting navsat_transform, UTM zone boundaries, and YAML covariance tuning, I wrote my own. FusionCore is a 22 state UKF that fuses IMU, wheel encoders, and GPS in ECEF directly (no coordinate projection, no extra node). It estimates IMU bias, adapts its noise covariance automatically from the innovation sequence, and gates outliers with a chi squared test on every sensor. I benchmarked it against robot_localization EKF on 6 sequences from the NCLT public dataset…
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