PACKAGE

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>fusioncore_ros</name>
  <version>0.2.5</version>
  <description>ROS 2 UKF sensor fusion for IMU, wheel encoders, GPS, and visual SLAM pose. 23-state filter with ECEF-native GPS handling, online gyro/accel/encoder bias estimation, adaptive noise covariance, chi-squared outlier rejection on every sensor, and map reinitialization recovery for GPS-denied operation. Drop-in robot_localization alternative. Benchmarked on 12 full-length NCLT sequences: wins 10 of 12 vs robot_localization EKF.</description>
  <maintainer email="manan.kharwar@ansys.com">Manan Kharwar</maintainer>
  <license>Apache-2.0</license>
  <url type="website">https://github.com/manankharwar/fusioncore</url>
  <url type="repository">https://github.com/manankharwar/fusioncore</url>
  <url type="bugtracker">https://github.com/manankharwar/fusioncore/issues</url>
  <url type="documentation">https://manankharwar.github.io/fusioncore</url>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <buildtool_depend>rosidl_default_generators</buildtool_depend>

  <depend>rosidl_default_runtime</depend>
  <depend>geographic_msgs</depend>
  <depend>gps_msgs</depend>
  <member_of_group>rosidl_interface_packages</member_of_group>

  <depend>rclcpp</depend>
  <depend>rclcpp_lifecycle</depend>
  <depend>sensor_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>tf2</depend>
  <depend>tf2_ros</depend>
  <depend>compass_msgs</depend>
  <depend>tf2_geometry_msgs</depend>
  <depend>eigen3_cmake_module</depend>
  <depend>fusioncore_core</depend>
  <depend>diagnostic_msgs</depend>
  <depend>std_srvs</depend>
  <depend>proj</depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>