easynav_costmap_localizer

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README

easynav_costmap_localizer

Description

AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

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_costmap_localizer/AMCLLocalizer

• Type: easynav::AMCLLocalizer

• Base Class: easynav::LocalizerMethodBase

• Library: easynav_costmap_localizer

• Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

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.	SensorDataQoS (reliable)
Subscription	initialpose	geometry_msgs/msg/PoseWithCovarianceStamped	Init particles pose to the received pose, using covariance	depth=10
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	Costmap2D	Read	Static costmap for likelihood evaluation.

TF Frames

Role	Transform	Notes
Publishes	map -> odom	Aligns the odometry frame with the map frame.
Requires (optional)	odom -> base_footprint	Required when compute_odom_from_tf=true (read from TF).

License

Apache-2.0