ROS implementation of the Error State Kalman Filter according to Quaternion kinematics for the error-state Kalman filter by Joan Solà. Full text can be obtained here.
Node fuses information from IMU, GPS, and magnetometer, publishes fused pose.
For more details, consult: https://zhuanlan.zhihu.com/c_1266722926339645440
roslaunch eskf_localization eskf_localization.launch
On another terminal,
rosbag play utbm_robocar_dataset_20180719_noimage.bag