eskf with sensor concept, less states, and latest fixes from dev/auv-navigation-eskf#640

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AhmedBorch wants to merge 45 commits intomainfrom

dev/eskf_fuse_depth

Commits on Nov 9, 2025

feat: added the math and setup of the ESKF, need some changes

Talhanc
authored and
AhmedBorch
committed
feat: added in the IMU msg and DVL msg, pluss ros2 setup

Talhanc
authored and
AhmedBorch
committed
feat: added ES-UKF filter

Talhanc
authored and
AhmedBorch
committed
feat: added UKF fix injection step

Talhanc
authored and
AhmedBorch
committed
feat: working ukf filter is added, some issue in the ESUKF

Talhanc
authored and
AhmedBorch
committed
added in some changes to eskf and the ukf algorithm

Talhanc
authored and
AhmedBorch
committed
added test script

Talhanc
authored and
AhmedBorch
committed
fixed some errors, code runs from eskf_test now

Talhanc
authored and
AhmedBorch
committed
added changes to ukf

Talhanc
authored and
AhmedBorch
committed
feat: Added ESKF in cpp using .hpp and .cpp, current implementation uses msg imu/data_raw and /orca/pose as the dvl info

Talhanc
authored and
AhmedBorch
committed
fix: Added correction for the IMU measurements

Talhanc
authored and
AhmedBorch
committed
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
refactor: remove python eskf

Talhanc
authored and
AhmedBorch
committed
fix: added errorstate and nominalstate variables into the eskf class

Talhanc
authored and
AhmedBorch
committed
feat: modified imu correction and added in tested imu noise

Talhanc
authored and
AhmedBorch
committed
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
feat: added NIS plots

Talhanc
authored and
AhmedBorch
committed
fix: issues in innovation and jacobian of the measurement

Talhanc
authored and
AhmedBorch
committed
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
feat: Adding in the TUKF and the UKF

Talhanc
authored and
AhmedBorch
committed
fix: added tukf and simulation

Talhanc
authored and
AhmedBorch
committed
fix:added in some minor fixes

Talhanc
authored and
AhmedBorch
committed
added the cpp code

Talhanc
authored and
AhmedBorch
committed
fix: removing tukf and some errors in eskf

Talhanc
authored and
AhmedBorch
committed
[pre-commit.ci] auto fixes from pre-commit.com hooks

pre-commit-ci[bot]
authored and
AhmedBorch
committed
ci: add node test for eskf

Andeshog
authored and
AhmedBorch
committed
feat: Added fancy text for starting filter

Talhanc
authored and
AhmedBorch
committed
fix: moved the fancy text variable outside the initiation

Talhanc
authored and
AhmedBorch
committed
Fixed some of the suggested comments, add debug flag
AhmedBorch
committed
updating the published topic name
AhmedBorch
committed
implemented the sensor concept requirement, added eskf.tpp so that I don't put the definition in the header
AhmedBorch
committed
removed gravity from the state vector and put it seperately for efficiency
AhmedBorch
committed
added code for errors and for covariance publishing
AhmedBorch
committed
added the modifications from Talha's branch /dev/auv-navigation-eskf (removed local utils, fixed naming)
AhmedBorch
committed
removed unused variable and old comment
AhmedBorch
committed
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot]
committed

Commits on Jan 16, 2026