eProsima FastCDR library provides two serialization mechanisms. One is the standard CDR serialization mechanism, while the other is a faster implem...
from https://github.com/eProsima/Fast-RTPS.git
https://github.com/leethomason/tinyxml2
使用误差状态卡尔曼滤波器融合GPS和IMU,实现更高精度的定位