robot_localization Debian package: 3.8.3-1noble.20260916.090038
$ ros2 run robot_localization ekf_node --ros-args -r __node:=ekf_filter_node --params-file baseline.yaml
$ ros2 run robot_localization ekf_node --ros-args -r __node:=ekf_filter_node --params-file fuse-biased-gyro.yaml
SUPPLIED: 51 odometry and 51 IMU messages per run; t=100..105 seconds
REFERENCE: x=5.000 m, y=0.000 m, yaw=0.000 rad at t=105 seconds
baseline: x=5.000 m, y=0.000 m, yaw=0.000 rad, position error=0.000 m
fuse-biased-gyro: x=4.245 m, y=2.238 m, yaw=0.990 rad, position error=2.362 m
CONFIG: only imu0_config[11] changed from false to true
TF: final odom -> base_link matches filtered odometry in both runs
PASS: real ekf_node runs match the bounded fixture expectations