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IMU & GPS localization

Using EKF to fuse IMU and GPS data to achieve global localization.

The code is implemented base on the book "Quaterniond kinematics for the error-state Kalman filter"

alt text

run:

roslaunch imu_gps_localization imu_gps_localization.launch

view:

sub topic: /fused_path ( nav_msgs::Path )

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