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feat(ecosystem): provide ROS 2 C++ node adapter and verification documentation - #28
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…mentation (#26) - Create minimal ROS 2 C++ package under examples/ros2_adapter - Implement AegisFilterNode subscribing to sensor_msgs/Imu and geometry_msgs/PoseWithCovarianceStamped - Ingest sensor measurements via zero-allocation C-FFI entrypoints (aegis_fusion4_predict and aegis_fusion4_fuse) - Publish filtered state to nav_msgs/Odometry with Chi-square innovation gating and sensor health scores - Provide CMakeLists.txt and package.xml configured for colcon and cargo co-compilation - Document build instructions and synthetic adversarial spike testing in examples/ros2_adapter/README.md - Update root README.md with ROS 2 ecosystem reference - Closes #26
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Summary
Resolves #26 by introducing a zero-allocation ROS 2 C++ node adapter under
examples/ros2_adapter, demonstrating how to integrateaegis-filterinto industrial robotics, UAV, and autonomous driving stacks.Key Changes
examples/ros2_adapterwith standardpackage.xml(format 3) andCMakeLists.txtconfigured forcolconbuild.AegisFilterNodeininclude/aegis_ros2_adapter/aegis_node.hppandsrc/aegis_node.cpp, embedding pre-allocatedAegisFusion4structs with zero heap allocation in real-time sensor callbacks./imu/data(sensor_msgs/msg/Imu) to drive state propagation viaaegis_fusion4_predict()./pose/sample(geometry_msgs/msg/PoseWithCovarianceStamped) to perform Joseph-stabilized updates viaaegis_fusion4_fuse()with automated 3.0? Chi-square outlier gating./aegis/filtered_odometry(nav_msgs/msg/Odometry) and real-time sensor health metrics to/aegis/sensor_health(std_msgs/msg/Float32).src/main.cppfor standalone execution viaros2 run aegis_ros2_adapter aegis_filter_node.examples/ros2_adapter/README.md(including synthetic GPS/LiDAR spoofing injection tests) and linked from rootREADME.md.Closes #26.