locusrobotics / fuse

The fuse stack provides a general architecture for performing sensor fusion live on a robot. Some possible applications include state estimation, localization, mapping, and calibration.

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fuse -> ROS 2 fuse_optimizers: Port fuse_optimizers #307

Closed methylDragon closed 1 year ago

methylDragon commented 1 year ago

See: https://github.com/locusrobotics/fuse/issues/276

Description

This PR ports the entirety of fuse_optimizers, including:

CMakeLists and packages
Source code
Tests
Other stuff like docs are in other PRs.
This introduces changes to the usage of rclcpp::Time (defaulting to use of RCL_ROS_TIME where time is default initialized.)

Pinging @svwilliams for visibility.