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easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_gps_localizer/GpsLocalizer
  • Type: easynav::GpsLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: gps_localizer
  • Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

This plugin does not declare configurable ROS parameters.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription robot/gps/fix sensor_msgs/msg/NavSatFix Raw GPS fix. SensorDataQoS (reliable)
Subscription imu/data sensor_msgs/msg/Imu IMU orientation for yaw fusion. SensorDataQoS (reliable)
Publisher robot/odom_gps nav_msgs/msg/Odometry Odometry fused from GPS + IMU (UTM-projected). 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 (or world) -> odom_gps Static or slowly varying transform aligning UTM to local odometry frame.
Optional base_link -> imu Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0