Show HN: FusionCore: ROS 2 sensor fusion that outperforms robot_localization

Category: library

Tags: ros2, sensor-fusion, ukf, mobile-robotics, localization

Score: 7.8/10 (Innovation: 7, Technical: 8, Documentation: 9, Utility: 7)

FusionCore is a ROS 2 sensor fusion package that uses a 22-state Unscented Kalman Filter to combine IMU, wheel encoders, and GPS into a single position estimate, eliminating manual noise tuning and handling GPS in ECEF coordinates natively. It outperforms the widely-used robot_localization package in benchmark tests and offers comprehensive documentation, making it a compelling alternative for mobile robotics applications.

Target audience: backend devs, devops, robotics engineers

Repository: https://github.com/manankharwar/fusioncore · C++ · Apache-2.0 · 153 stars

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