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odometry_fusion: one error-state filter for every source, with or without an IMU - #3

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jeff/fix/eskf_anchor_and_absolute
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odometry_fusion: one error-state filter for every source, with or without an IMU#3
jeff-hykin wants to merge 14 commits into
fused_odomfrom
jeff/fix/eskf_anchor_and_absolute

Zero-velocity update: a twist source reporting stillness pins the vel…

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