README

easynav_gps_localizer

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

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