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easynav_gps_localizer

ROS 2: kilted ROS 2: rolling

Description

Odometry fusion localizer based on Robot Localization that fuses any n odometry sources.

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Miguel Ángel de Miguel midemig@gmail.com

Supported ROS 2 Distributions

Distribution Status
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_fusion_localizer/FusionLocalizer
  • Type: easynav::FusionLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: fusion_localizer
  • Description: Odometry fusion localizer based on Robot Localization that fuses any n odometry sources.

Parameters

TODO

See robot_localization documentation

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Publisher odometry/filtered nav_msgs/msg/Odometry Odometry fused from all sources. SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key Type Access Notes
robot_pose nav_msgs::msg::Odometry Write GPS-based odometry estimate.

TF Frames

Role Transform Notes
Publishes map -> odom Static or slowly varying transform aligning UTM to local odometry frame.

License

Apache-2.0