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easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

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_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_simple_localizer/AMCLLocalizer/....

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). SensorDataQoS (reliable)
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0