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sensor fusion with many sensors and different update rates

I suggest to check the open source drone code PX4. You will need a fusion time horizon to solve this problem. Hope this will be helpful.
Peter Devenyi's user avatar
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ROS2 Localization mode in slam_toolbox

SLAM Toolbox localization uses a serialized pose-graph from a SLAM Toolbox mapping session, you cannot use pre-rastered maps with it and should not be loading or serving a map yaml when using it.
Steve Macenski's user avatar
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slam_toolbox & Turtlebot 3 House Simulation: localization jumps to different room

The TF from your pictures are different. Is the TF correcly declared (Odom, base_link, map) ? SLAM toolbox if I am not wrong fuse Odom, IMU data. If fusion is incorrect your Localization will be wrong....
Marcus Vinicius's user avatar

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