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Multi-sensor pose fusion node (UWB + visual odom + IMU) #595

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opened 2026-03-14 14:55:21 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:21 -04:00
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Create a ROS2 node that fuses UWB position (saltybot_uwb_imu_fusion), visual odometry (saltybot_visual_odom), and IMU into a single authoritative /saltybot/pose/fused topic. Use an EKF or complementary filter. UWB provides absolute position correction, visual odom provides smooth relative motion, IMU fills gaps. Output: PoseWithCovarianceStamped + TF2 map->base_link. Handle sensor dropout gracefully (coast on last good estimate). Config: yaml with sensor weights and covariance tuning.

Create a ROS2 node that fuses UWB position (saltybot_uwb_imu_fusion), visual odometry (saltybot_visual_odom), and IMU into a single authoritative /saltybot/pose/fused topic. Use an EKF or complementary filter. UWB provides absolute position correction, visual odom provides smooth relative motion, IMU fills gaps. Output: PoseWithCovarianceStamped + TF2 map->base_link. Handle sensor dropout gracefully (coast on last good estimate). Config: yaml with sensor weights and covariance tuning.
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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#595
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