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UWB-IMU fusion for robust indoor localization #573

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opened 2026-03-14 11:51:18 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 11:51:18 -04:00
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Implement sensor fusion combining UWB position with IMU data for robust localization.Requirements:- Extended Kalman Filter fusing UWB pose (10Hz) with IMU accel+gyro (200Hz)- Handle UWB dropouts gracefully (IMU dead-reckoning)- Publish fused /saltybot/pose/fused (PoseStamped)- TF2 broadcast: base_link relative to map- Configurable process/measurement noise- Log UWB vs fused position for calibrationDeliverables:- ROS2 Python package: saltybot_uwb_imu_fusion- Launch file + params YAMLAssigned to: sl-uwb

Implement sensor fusion combining UWB position with IMU data for robust localization.**Requirements:**- Extended Kalman Filter fusing UWB pose (10Hz) with IMU accel+gyro (200Hz)- Handle UWB dropouts gracefully (IMU dead-reckoning)- Publish fused /saltybot/pose/fused (PoseStamped)- TF2 broadcast: base_link relative to map- Configurable process/measurement noise- Log UWB vs fused position for calibration**Deliverables:**- ROS2 Python package: saltybot_uwb_imu_fusion- Launch file + params YAMLAssigned to: sl-uwb
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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#573
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