The fuse_models package contains plugins that can be used to produce state estimates for a wide variety of robots. The package is intended to support transitioning from the robot_localization package to fuse.

Changelog for package fuse_models

1.2.3 (2025-05-24)

• Fix linter errors related to header ordering (#407)
• Removed deprecations warnings (#406)
• Contributors: Alejandro Hernández Cordero, Stephen Williams

1.2.2 (2025-04-26)

• • Added dependencies in required CMakeLists.txt and package.xml files
  • Added ament_cmake_ros and gtest_vendor dependencies

  * Removed duplicate package depends, alphabetized lists See https://www.linkedin.com/posts/open-source-robotics-foundation_were-looking-for-half-a-dozen-new-open-activity-7317690134764605440-jm3h/ Author: KB1110 <<kartikbakshi10@gmail.com>>

• Port minor header fixes from ROS1 to ROS2 (#331) Port the minor header fixes PR (#266 ) from ROS1 to ROS2 Added missing header; reordered headers

• Port missing tf timeout from ROS1 to ROS2 (#333) Ported missing tf timeout in IMU and Odometry processing (#322) from ROS1 to ROS2

  • Add tf lookup timeout to IMU and Odometry processing

• [RST-7809] Port fix for negative pi initial conditions from ROS1 to ROS2 (#335)

  • Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
  • Force the 2D orientation value to be is minimum phase

• Port patch #370 into ROS 2 Rolling (#402) Cast nullptr to type for manifold support (#370) Co-authored-by: Jake McLaughlin <<jmclaughlin@ottomotors.com>>

• Port patch #395 into ROS 2 Rolling (#400) Only instantiate tf_listeners if needed (#395)

• Port patch #394 (imu2d-twist-transform-devel) into ROS2 Rolling (#399) Fix an error where we do not use the transformed_twist after computing it.

• Prevent optimizer thread from calling notify on stopped publishers (#393)

  • Prevent optimizer thread from calling notify on stopped publishers
  • Fix tests
  • Fix uncrustify issue

• Add missing parameter documentation (#382)

  • Add missing parameter documentation

  * Update fuse_models/include/fuse_models/unicycle_2d_ignition.hpp Co-authored-by: Stephen Williams <<stephen.vincent.williams@gmail.com>>

  * Update fuse_models/include/fuse_models/unicycle_2d_ignition.hpp Co-authored-by: Carlos Mendes <<77983813+carlos-m159@users.noreply.github.com>> ---------Co-authored-by: Stephen Williams <<stephen.vincent.williams@gmail.com>> Co-authored-by: Carlos Mendes <<77983813+carlos-m159@users.noreply.github.com>>

• Contributors: Carlos Mendes, KB1110, Patrick Roncagliolo, Stephen Williams

1.2.1 (2024-09-21)

• Fix stringop-overread compile issues (#381)
• Contributors: Stephen Williams

1.2.0 (2024-05-02)

1.1.1 (2024-05-02)

• Required formatting changes for the lastest version of ROS 2 Rolling (#368)
• Contributors: Stephen Williams

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