saltybot_pose_fusion 0.1.0 Multi-sensor EKF pose fusion node (Issue #595). Fuses UWB+IMU absolute pose (/saltybot/pose/fused_cov), visual odometry (/saltybot/visual_odom), and raw IMU (/imu/data) into a single authoritative map-frame PoseWithCovarianceStamped on /saltybot/pose/authoritative with TF2 map→base_link broadcast. sl-perception MIT ament_python rclpy std_msgs sensor_msgs nav_msgs geometry_msgs tf2_ros python3-numpy ament_copyright ament_flake8 ament_pep257 python3-pytest ament_python