Holistic Fusion

Table of Contents

  • Installation
    • Requirements
      • Docker
      • Custom Build
        • Holistic Fusion Core
          • Eigen3
          • GTSAM
    • Core Library
    • Catkin Workspace
    • Colcon Workspace
  • System Overview
    • Architecture
    • Core Library
      • Interface Layer
      • Measurement Types
      • Graph Manager
      • Static Transforms
    • Communication Wrappers
      • ROS1 (holistic_fusion_ros)
      • ROS2 (holistic_fusion_ros2)
    • Data Flow
  • Usage
    • ROS1 Workspace
    • ROS2 Workspace
  • Parameters
    • Core Library Parameters
      • Core Extrinsic Parameters
      • Core Graph Config
      • Core Graph Parameters
        • IMU covariance
        • Initialization
        • Parameter applicability
        • Optimizer API limits
        • Earth rotation migration
        • Earth rotation compensation
    • Applications Specific Parameters
  • GTSAM Catkin
  • Docker
    • ROS1 Noetic
      • Building the Docker Image
      • Running the Docker Container
    • ROS2 Humble
      • Building the Docker Image
      • Running the Docker Container
  • Examples
    • ROS1 Examples
      • ANYmal Example
      • Excavator Example
      • SuperMegaBot Example
      • Ground Generation Example
      • Other Examples
    • ROS2 Examples
      • SuperMegaBot ROS2 Example
        • Fused Measurements
        • Running
        • Configuration
        • Differences from the ROS1 Version
  • Building Documentation
    • Automatic Build (Default)
    • Manual Build (Local)
    • Read The Docs
      • Building
    • Doxygen
  • Changelog
    • 2026
      • September 2026: Switch to GTSAM 4.3.0 (PR #46)
      • September 2026: T-RO publication and new project page
      • July 2026: Local velocity factors for moving sensor frames
    • 2025
      • Summer 2025: ROS 2 support and build-system separation
Holistic Fusion
  • Search

© Copyright 2025, Julian Nubert, Turcan Tuna, Jonas Frey, Cesar Cadena, Katherine J. Kuchenbecker, Shehryar Khattak, Marco Hutter.

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