TOM Sensor Fusion

Implements sensor fusion across IMU and gyro streams using an unscented Kalman filter.

Quickstart

Install Bazel and Bazelisk by following the instructions on the Bazel website.

Then run:

bazelisk build //...

# In separate windows, tmux panes, etc:
bazelisk run //rust_nodes/pub_test:pub
bazelisk run //rust_nodes/sub_test:sub

Bazel and Bazelisk

This project uses Bazel as a polyglot build system and Bazelisk to manage Bazel versions.

The USE_BAZEL_VERSION flag in .bazeliskrc specifies the Bazel version used when commands like bazelisk build //... are run.

Bazel is configured to ingest all Cargo.toml packages specified in /MODULE.bazel:

crate.from_cargo(
    name = "crates",
    manifests = ["//rust_nodes/pub_test:Cargo.toml", "//rust_nodes/sub_test:Cargo.toml"],
)

When writing a new Rust package, add its Cargo.toml path to this list and collect deps using this boilerplate:

load("@crates//:defs.bzl", "all_crate_deps", "aliases")

# ...

rust_binary(
    name = "<package_name>",
    srcs = ["src/main.rs"],
    edition = "2021",
    aliases = aliases(),
    deps = all_crate_deps(normal = True),
)