Odom GNSS Fusion Documentation¶

Link to module repo: odom_gnss_fusion

Overview¶

The odom_gnss_fusion package provides an observer-based sensor fusion node for ROS2. It combines high-frequency odometry velocity measurements with lower-frequency GNSS pose measurements to produce a smoothly updated, globally corrected pose estimate. The node broadcasts the standard REP 105 TF hierarchy (map -> odom -> base_link).

For build instructions, parameter reference, and topic descriptions, see the repository README.

Documentation¶

• Architecture — Observer algorithm, mathematical model, and data flow
• Tuning — Calibration procedure and parameter tuning for field deployment
• Testing — Test publishers and system-level validation procedures