FusionCore is a production-grade ROS 2 sensor fusion library. It runs a 22-state UKF fusing GPS, IMU, and wheel odometry with adaptive noise estimation (no manual Q tuning), Mahalanobis outlier rejection for GPS spikes and IMU glitches, and ECEF-native GPS handling that works at any scale. Benchmarked against robot_localization on the NCLT outdoor driving dataset: FusionCore wins on 5 of 6 sequences, up to 4 × lower ATE. Apache 2.0.

FusionCore is a production-grade ROS 2 sensor fusion library. A 23-state UKF fuses GPS, IMU, and wheel odometry with adaptive noise estimation (no manual Q tuning), chi-squared outlier rejection that catches GPS multipath spikes before they move the estimate, inertial coast through GPS dropouts, and ECEF-native GPS that works anywhere on Earth. Benchmarked against robot_localization on the NCLT outdoor dataset: ahead on 10 of 12 sequences. ROS 2, Apache 2.0.

Hey Product Hunt 👋 I'm Manan, founder of FusionCore. The same thing kept biting outdoor robots I worked with: robot_localization is the ROS default, but the moment GPS goes bad near buildings, trees, or steel, the filter trusts the bad fix and the robot lurches off course. Getting it to behave is a tuning rabbit hole most teams don't have time for. FusionCore is the answer I wanted: a 23-state UKF that adapts its noise automatically (no manual Q tuning), rejects GPS multipath spikes with a chi-squared gate before they move the estimate, and coasts on IMU plus wheel odometry through full GPS dropouts. On the NCLT outdoor dataset it's ahead of robot_localization on 10 of 12 sequences. Apache 2.0, and it stays that way. Since the last launch, 0.3.2 shipped the fix I'm proudest of: a sustained GPS spike can no longer sneak past the outlier gate, and the filter now survives a clock rewind instead of crashing. If you run anything outdoors on GPS, I'd genuinely love to hear what you're using for localization and where it breaks.

FusionCore

ROS 2 UKF sensor fusion: GPS+IMU+wheels, zero manual tuning

ROS 2 UKF sensor fusion: GPS+IMU+wheels, zero manual tuning

FusionCore 0.3.2

Previous FusionCore Launches

Previous FusionCore Launches