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This ROS package contains various useful libraries (mostly C++) for the MRS UAV system.

• Online documentation: https://ctu-mrs.github.io/mrs_lib.

• ParamLoader - wrapper around ROS's param loading for C++ (documentation)
• Transformer - wrapper around ROS's transfomation library (documentation)
• SubscribeHandler - wrapper around ROS's subscriber (documentation)
• AttitudeConverter - a proxy class for converting representations of 3D orientation (documentation)
• LKF - Linear Kalman Filter (documentation)
• UKF - Unscented Kalman Filter (documentation)
• Repredictor - algorithm for fusing variably time-delayed measurements (documentation)
• Profiler - scoped profiling routine (documentation)