Getting started questions: ask anything here

[manankharwar]

If you are trying to get FusionCore running and hit a wall, ask here rather than opening an issue. Issues are for confirmed bugs: questions, config help, and "why is my odom drifting" belong here.

Include in your question:

• Your robot platform and sensor setup
• The distro you are on (Jazzy, Kilted, etc.)
• What you see vs what you expected
• Your fusioncore.yaml config if relevant (paste it in a code block)

Common things to check first:

• TF tree: run ros2 run tf2_tools view_frames and make sure base_link, imu_link, and gps_link are all connected
• Topic names: ros2 topic list and verify your IMU, encoder, and GPS topics match what is in the config
• Fix type: if gnss.min_fix_type is set to rtk_float but your receiver only publishes gps fixes, GPS will never fuse

I check discussions daily and respond within 24 hours.

[sebatztian]

AMCL Localization support

Hi, this repo has promising advantages over the regular robot localization package.
However, we are using amcl localization for correction of the pose estimate.

As stated in the docu, you are directly publishing the tf between map and base_link, and it says to disable the amcl node altogether.

Is there a recommended approach on how one can still leverage amcl?

Thank you in advance!

[manankharwar]

Hey @sebatztian.... good news, AMCL is fully compatible with FusionCore.

There was a misleading sentence in the migration guide that said AMCL "will conflict with the TF tree".... that was wrong without qualification and I just fixed it. FusionCore publishes odom → base_link. AMCL publishes map → odom. These are different TF edges and do not conflict at all.

Your setup should look like this:

map → odom        (AMCL handles this)
odom → base_link  (FusionCore handles this)

The only thing to check: make sure nothing else is also publishing odom → base_link alongside FusionCore. If you were previously using robot_localization or ros2_control with enable_odom_tf: true, disable those. FusionCore must be the sole publisher of that transform.

The "remove AMCL" advice only applies to GPS-only outdoor navigation where there is no map and Nav2 is configured with global_frame: odom everywhere. For indoor navigation with a map, AMCL is exactly the right tool and slots in cleanly on top of FusionCore.

Let me know your sensor setup if you hit anything unexpected.

[manankharwar]

Hey @sebatztian, did the AMCL setup work out? Curious what hardware you're running this on...