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JWhitleyWork
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Feb 6, 2026
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Looks correct to me and CI is happy.
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This PR adds fuse-based state estimation for mobile base pose estimation using wheel odometry. The fuse fixed-lag smoother subscribes to wheel odometry and publishes filtered state estimates on /odom_filtered.
Added odom_qos_relay.py which subscribes to odom with BEST_EFFORT QoS and republishes to odom_reliable with RELIABLE QoS (which fuse expects) - these QoS types are incompatable.
On launching the sim odom_filtered is published and the odom to base_footprint TF as well.
Screencast.from.2026-02-05.12-47-44.webm