fusioncore_ros
ROS 2 UKF sensor fusion for GPS, IMU and wheel encoders. 22-state filter with ECEF-native GPS handling, automatic IMU bias estimation, adaptive noise covariance, and chi-squared outlier rejection on every sensor. Drop-in robot_localization alternative. Native ROS 2 Jazzy and Humble, benchmarked on 6 NCLT public dataset sequences.