kharwarm

4 ms·

1.
by kharwarm 5mo ago
Umm.. I'm sorry but i'd ask you to go check the table again. lol the wins aren't that marginal with numbers: 2.3x, 2.0x, 12.9x, 3.2x, 2.7x on the five sequences. the loss on one specific sequence is genuinely bad though: 28.6
2.
Show HN: FusionCore: ROS 2 sensor fusion that outperforms robot_localization(github.com)
11 points by kharwarm 5mo ago|2 comments
3.
Switched from robot_localization to a single-node GPS fusion setup(github.com)
2 points by kharwarm 5mo ago|1 comments
4.
by kharwarm 5mo ago
Fair, and I appreciate you saying that. I'll rewrite the intro section.... you're right that I can describe it better myself. The technical docs I'll keep as-is (parameter tables, migration steps), but the "what it is an
5.
by kharwarm 5mo ago
It keeps predicting. During a GPS outage, FusionCore just dead-reckons off the IMU and wheel encoders, so the output stream stays continuous. Covariance inflates over time as uncertainty builds... there’s no output gating. The Mahalanobis g
6.
by kharwarm 5mo ago
Appreciate it. If you get a chance to take a look, the benchmark methodology and the RL comparison configs are all in the benchmarks/ folder, so you should be able to reproduce the results pretty easily. I’ve already had six testers va
7.
by kharwarm 5mo ago
Fair point about the README... yeah, I did use Claude to help with the docs. But just to be clear, I’m not using OpenClaw or any other automated tools. FusionCore is a legit package: it’s available via apt, and the code’s up on GitHub. The
8.
by kharwarm 5mo ago
Fair haha... if you ever want the filter without the middleware, fusioncore_core is pure C++17 with zero ROS dependency. The ROS wrapper is thin on purpose. And if you're ever dealing with sensor fusion headaches on a project, feel fre
9.
FusionCore: ROS 2 sensor fusion (IMU and GPS and encoders)(github.com)
19 points by kharwarm 5mo ago|10 comments
10.
FusionCore ROS 2 sensor fusion replacing deprecated robot_localization(github.com)
1 points by kharwarm 6mo ago|1 comments
11.
by kharwarm 6mo ago
robot_localization was the standard sensor fusion package for ROS. It was officially deprecated in September 2023. The designated replacement (fuse) still has no working GPS support two years later. FusionCore fills that gap: IMU, wheel enc