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feat(controls): Odometry fusion node — fuse wheel + visual + IMU into single /odom #216

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opened 2026-03-02 11:48:19 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 11:48:19 -05:00
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Single ROS2 node. Subscribe to /saltybot/rover_odom (wheel), /saltybot/visual_odom (VO), /saltybot/imu (IMU). Complementary filter: wheel for short-term, VO for drift correction, IMU for orientation. Publish fused nav_msgs/Odometry on /odom + broadcast odom→base_link TF. Configurable weights. 50Hz. Include unit tests.

Single ROS2 node. Subscribe to /saltybot/rover_odom (wheel), /saltybot/visual_odom (VO), /saltybot/imu (IMU). Complementary filter: wheel for short-term, VO for drift correction, IMU for orientation. Publish fused nav_msgs/Odometry on /odom + broadcast odom→base_link TF. Configurable weights. 50Hz. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#216
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