Dev/localization#2

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sungkarb wants to merge 22 commits intomainfrom

dev/localization

Commits on Nov 6, 2025

added compass.cpp from 24-25

horatioai
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horatioai
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Commits on Nov 18, 2025

added fusion node, fusion hasnt been implemented yet

horatioai
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horatioai
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Commits on Nov 20, 2025

compass node updated to publish quarternion data, full euler data, velocity, and acceleration. needs to be tested

horatioai
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horatioai
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full skeleton code written for fusion, need to do the math now

horatioai
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horatioai
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Commits on Nov 25, 2025

updated fusion.py node to un on a timer, added initialization of the self state, fleshed out fusion logic, implemented quarternion to rotation matrix code

horatioai
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horatioai
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Commits on Dec 5, 2025

added kalman filter and covariance update

horatioai
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horatioai
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Commits on Jan 22, 2026

Added to_cartesian and finished EKF pipeline, still need to publish information, waiting on path planning team to give specifications. Still need to double check for bugs

horatioai
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horatioai
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Commits on Jan 23, 2026

Finished publisher node, publishes local odometry state with UTM and relative yaw

horatioai
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horatioai
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fixed indentation errors, syntax errors, and a to_cartesian logic

horatioai
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horatioai
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Fixed pipeline errors and sytax

horatioai
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horatioai
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Syntax fully fixed, code ready to be tested on the rover. EKF math is simplified so the pipeline might make the covariance nonsense, look out for that

horatioai
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horatioai
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Commits on Jan 29, 2026

print statement

horatioai
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horatioai
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commented out UTM stuff

horatioai
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horatioai
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commented out all the UTM stuff, but actually

horatioai
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horatioai
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small format changes

horatioai
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horatioai
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made packages for everything
Balabalu-VE
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Merge branch 'dev/localization' of https://github.com/WisconsinRobotics/WRoverSoftware_25-26 into dev/localization
Balabalu-VE
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made packages for everything finally actually
Balabalu-VE
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Commits on Jan 30, 2026

re-added UTM

horatioai
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horatioai
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Commits on Feb 24, 2026