README

easynav_navmap_localizer

Description

Easy Navigation: nAVmAP Localizer package.

Authors and Maintainers

• Authors: Intelligent Robotics Lab

• Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

• Plugin Name: easynav_navmap_localizer/AMCLLocalizer

• Type: easynav::navmap::AMCLLocalizer

• Base Class: easynav::LocalizerMethodBase

• Library: easynav_navmap_localizer

• Description: A default “navmap” implementation for the AMCL localizer.

Parameters

All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_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).
<plugin>.compute_odom_from_tf	bool	false	If true, read odometry from TF (odom->base_footprint) instead of /odom topic.
<plugin>.inflation_stddev	double	0.05	Std dev used in occupancy inflation (m).
<plugin>.inflation_prob_min	double	0.01	Minimum occupancy probability after inflation.
<plugin>.correct_max_points	int	1500	Maximum points used per correction step (after downsampling).
<plugin>.weights_tau	double	0.7	Exponential decay factor for particle weight smoothing.
<plugin>.top_keep_fraction	double	0.2	Fraction of top particles to keep before reseeding.
<plugin>.downsampled_cloud_size	double	0.05	Voxel size for point cloud downsampling (m).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	/odom	nav_msgs/msg/Odometry	Used only when <plugin>.compute_odom_from_tf = false	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	Publishes the estimated pose with covariance	depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
imu	IMUPerceptions	Read	Used to get the latest IMU orientation when available.
points	PointPerceptions	Read	3D point cloud bundles used in the correction step.
map.navmap	::navmap::NavMap	Read	Triangle mesh map providing surface geometry and elevation.
map.bonxai	Bonxai::ProbabilisticMap	Read	Probabilistic occupancy map used for scoring.
map.bonxai.inflated	Bonxai::ProbabilisticMap	Write/Read	Inflated map cached on first access for faster scoring.
robot_pose	nav_msgs::msg::Odometry	Write	Estimated robot pose stored at the end of update/predict.

TF Frames

Role	Transform	Notes
Publishes	map -> odom	Broadcasts the global transform that aligns the odometry frame with the map frame.
Requires	odom -> base_footprint	Required only when <plugin>.compute_odom_from_tf = true (read from TF).
Requires	base_footprint -> <sensor_frame>	Required to transform perception point clouds into the robot base frame during correction.

License

Apache-2.0