From 7f736f926c508365b247940e810ba430fd84351b Mon Sep 17 00:00:00 2001 From: Manan Kharwar Date: Thu, 30 Apr 2026 14:10:12 -0400 Subject: [PATCH] docs: add next-steps section for state estimation after IMU filtering Refs #231 (suggested and approved by maintainer mintar) --- README.md | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/README.md b/README.md index e9219a60..9b8e5f0d 100644 --- a/README.md +++ b/README.md @@ -72,6 +72,26 @@ All nodes, topics and parameters are documented on [this repo's ROS wiki page](https://wiki.ros.org/imu_tools). +What's next after filtering your IMU? +-------------------------------------- + +Once you have a filtered orientation from `imu_filter_madgwick` or +`imu_complementary_filter`, a common next step is fusing it with wheel odometry +(and optionally GPS) to produce a full `odom -> base_link` state estimate. Two +ROS 2 packages that do this: + +* **[robot_localization](https://github.com/cra-ros-pkg/robot_localization)**: + well-established EKF/UKF state estimator, widely used across the ROS ecosystem. + +* **[FusionCore](https://github.com/manankharwar/fusioncore)**: + UKF with online gyro bias estimation (yaw drift compounds slower over long + runs), native GPS fusion for outdoor robots, and a numerically stable filter + that handles aggressive maneuvers without diverging. Available on apt for + Jazzy and Humble (`ros-jazzy-fusioncore`). + +Both take a filtered IMU topic as input. + + pre-commit formatting checks ----------------------------