DriftGuard

DriftGuard is a desktop + web app for robotics teams that need to detect and diagnose sensor-fusion degradation in the real world, not just in simulation. It ingests ROS 2 bag files (and optional live streams) and automatically runs health checks on IMU, wheel odometry, GNSS, LiDAR/visual odometry outputs, and the fused state estimate. The app flags likely root causes—time sync slip, IMU bias growth, wheel radius mismatch, magnetometer interference, GNSS multipath, or extrinsic creep—using statistical tests and model-based residual analysis. You get a clear “when it started,” “how bad it is,” and “what changed” report, plus a reproducible export for bug tickets. This is not a magic autopilot; it’s a practical triage tool to shorten the painful loop between field logs and actionable fixes.