manankharwar/fusioncore

Six of the eight update_* entry points on FusionCore take a timestamp, and none of the public documentation states what happens when that timestamp goes backwards. It matters because it has crashed before. From the changelog: the filter used to SIGABRT on a backward time jump,…

tools/rl_to_fusioncore.py converts a robot_localization config into a FusionCore one. For a lot of people it is the first FusionCore code they ever run, since the realistic path into this project is migrating off the thing they already have. It has no test. It is also not a…

The benchmark table in the README is a May 2026 snapshot, and the only thing saying so is a sentence a reader has to notice: Read the caveat in the section above before quoting these. They are a May 2026 snapshot and have not been re-verified end to end on current main. One is…

fusioncore_core is a plain C++ library with no ROS dependency, and the README says so. But the only way to turn a rejection reason into a readable name lives in the ROS node: fusioncore_ros/src/fusion_node.cpp:3261 gnss_reason_str() fusioncore_ros/src/fusion_node.cpp:3286…