README

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
jazzy
kilted
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