PR #1419 was merged into introlab/rtabmap_ros last week, co-authored with Mathieu Labbe. It adds a TurtleBot3 Gazebo Harmonic demo showing a feedback loop between FusionCore (IMU + wheel UKF) and icp_odometry.
I ran FusionCore head-to-head against robot_localization on the NCLT dataset from the University of Michigan: a real robot driving around a campus for 10 minutes, mixed urban/suburban environment with tree cover, buildings, and open quads. Ground truth is RTK GPS at sub-10cm accuracy.
The results were more decisive than I expected.
The filter is working correctly in simulation. The benchmarks on the NCLT dataset look good. What I don't have yet is enough data from real hardware deployments across different robot platforms and sensor combinations. That's what I'm looking for.
I have been working on FusionCore for the last several months. It is a ROS 2 Jazzy sensor fusion package: IMU + wheel encoders + GPS fused at 100 Hz into a single position estimate. The short version of why it exists is that robot_localization has seen very limited development since 2023, and the gaps it leaves are ones that matter in real deployments.