{"id":21481902,"url":"https://github.com/methyldragon/ros-sensor-fusion-tutorial","last_synced_at":"2025-10-18T07:56:48.983Z","repository":{"id":39006908,"uuid":"143375487","full_name":"methylDragon/ros-sensor-fusion-tutorial","owner":"methylDragon","description":"An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰","archived":false,"fork":false,"pushed_at":"2019-03-15T19:08:11.000Z","size":7627,"stargazers_count":668,"open_issues_count":4,"forks_count":172,"subscribers_count":25,"default_branch":"master","last_synced_at":"2025-01-23T18:50:12.755Z","etag":null,"topics":["ekf-localization","kalman-filter","robot-localization","robotics","ros","sensor-fusion","tutorial"],"latest_commit_sha":null,"homepage":"","language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/methylDragon.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-08-03T03:58:04.000Z","updated_at":"2025-01-09T16:47:25.000Z","dependencies_parsed_at":"2022-07-09T18:30:17.804Z","dependency_job_id":null,"html_url":"https://github.com/methylDragon/ros-sensor-fusion-tutorial","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/methylDragon%2Fros-sensor-fusion-tutorial","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/methylDragon%2Fros-sensor-fusion-tutorial/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/methylDragon%2Fros-sensor-fusion-tutorial/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/methylDragon%2Fros-sensor-fusion-tutorial/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/methylDragon","download_url":"https://codeload.github.com/methylDragon/ros-sensor-fusion-tutorial/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":244006395,"owners_count":20382443,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ekf-localization","kalman-filter","robot-localization","robotics","ros","sensor-fusion","tutorial"],"created_at":"2024-11-23T12:28:51.679Z","updated_at":"2025-10-18T07:56:48.886Z","avatar_url":"https://github.com/methylDragon.png","language":null,"funding_links":["https://www.buymeacoffee.com/methylDragon"],"categories":[],"sub_categories":[],"readme":"# Sensor Fusion in ROS\n[![Click to watch video!](assets/youtube_thumbnail.png)](https://youtu.be/5vZOvISwT94)\n\nAn in-depth step-by-step tutorial for implementing sensor fusion with extended Kalman filter nodes from robot_localization! Basic concepts like covariance and Kalman filters are explained here!\n\nThis tutorial is especially useful because there hasn't been a full end-to-end implementation tutorial for sensor fusion with the robot_localization package yet.\n\nYou can find the implementation in the Example Implementation folder!\n\n\n\n### Why fuse sensor data\n\nA lot of times, the individual navigation stack components in a robot application can fail more often than not, but together, they form a more robust whole than not.\n\nOne way to do this is with the extended Kalman filter from the [robot_localization](http://wiki.ros.org/robot_localization) package. The package features a relatively simple ROS interface to help you fuse and configure your sensors, so that's what we'll be using!\n\n\n\n### How to use this tutorial\n\n1. Make sure you're caught up on [ROS](https://github.com/methylDragon/coding-notes/tree/master/Robot%20Operating%20System%20(ROS)/ROS)\n2. It'll be good to read the [Marvelmind Indoor 'GPS' beacon tutorial](https://github.com/methylDragon/marvelmind-indoor-gps-tutorial) alongside this if you want to understand the example implementation\n3. Likewise for the [Linorobot stack](https://linorobot.org)\n4. And [AMCL](http://wiki.ros.org/amcl)\n5. Then go ahead and follow the tutorial in order!\n\n\n\n------\n\n [![Yeah! Buy the DRAGON a COFFEE!](assets/COFFEE%20BUTTON%20%E3%83%BE(%C2%B0%E2%88%87%C2%B0%5E).png)](https://www.buymeacoffee.com/methylDragon)","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmethyldragon%2Fros-sensor-fusion-tutorial","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmethyldragon%2Fros-sensor-fusion-tutorial","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmethyldragon%2Fros-sensor-fusion-tutorial/lists"}