7708c63698
EKF fusing UWB position (10Hz) with IMU accel+gyro (200Hz) for SaltyBot indoor localization with UWB dropout resilience. Package: saltybot_uwb_imu_fusion - ekf_math.py: 6-state EKF [x,y,θ,vx,vy,ω], IMU predict + UWB update - IMU as process input: body-frame accel rotated to world via heading - Jacobian F for nonlinear rotation effect - Process noise Q from continuous white-noise model - UWB 2D position update, heading update from quaternion - Accel bias estimation (low-pass) - Velocity damping during UWB dropout (>2s threshold) - ekf_node.py: ROS2 node subscribing to /imu/data (200Hz) + /saltybot/uwb/pose or /uwb/bearing (10Hz) - Publishes /saltybot/pose/fused (PoseStamped) - Publishes /saltybot/pose/fused_cov (PoseWithCovarianceStamped) - Broadcasts base_link → map TF2 at IMU rate - Suppresses output after max_dead_reckoning_s without UWB - 14/14 unit tests passing (predict, update, dropout, PD covariance) - Launch: ros2 launch saltybot_uwb_imu_fusion uwb_imu_fusion.launch.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>