A ROS2 package that wraps a complementary filter for estimating Pitch and Roll on the Lie group SO3 of an IMU with gyro and accel measurements. Based on the filter introduced here and explained nicely in the context of multirotors here.
The project is built as a ros2 package with colcon build --symlink-install
After building the filter can be run with ros2 launch so3_cf estimator_launch.py
Filter gains are configured in params.yaml