A Kalman Filter for Easynav

[midemig]

Description

This PR introduces the first version of Fusion Localizer, an Unscented Kalman Filter (UKF) implementation based on the robot_localization repository.

Key Features

• Multi-Source Fusion: It is capable of filtering $n$ odometry sources.
• Direct GNSS Support: It accepts sensor_msgs/NavSatFix messages directly as input.
• Filtered Output: It processes these inputs to generate a robust, filtered localization estimate.

Testing & Validation

This package has been successfully tested in the following scenarios:

• Real Data: Validated using a rosbag from a SUMMIT robot.
• Simulation: Tested in the easynav_playground_summit environment using the included configuration files.

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Codecov Report

✅ All modified and coverable lines are covered by tests.

📢 Thoughts on this report? Let us know!

[fmrico]

LGTM!! Merging!!

🚀