easynav_navmap_localizer

Easy Navigation: nAVmAP Localizer package.

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