[ICRA22] ES-EKF Multi-Sensor Fusion

This commit is used for the ICRA2022 paper titled:

@misc{markovic2021error,
      title={Error State Extended Kalman Filter Multi-Sensor Fusion for Unmanned Aerial Vehicle Localization in GPS and Magnetometer Denied Indoor Environments}, 
      author={Lovro Markovic and Marin Kovac and Robert Milijas and Marko Car and Stjepan Bogdan},
      year={2021},
      eprint={2109.04908},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

The associated bag file contains data presented in the paper.