Monitoring & Diagnostics

Localization Error Monitor

This module monitors the covariance ellipse size of EKF output. It subscribes to input/odom (Odometry) and computes the semi-major axis radius and lateral component of the confidence ellipse.

Pose Instability Detector

This module detects pose jumps by comparing EKF fused pose with dead-reckoning pose. At timer_period intervals (default 0.5s), it integrates Twist data to compute dead-reckoning pose, then compares with EKF pose. If longitudinal, lateral, or angular deviation exceeds dynamically computed thresholds, an ERROR is reported.