Earth Rover localization

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/autonomous_scouting_localization.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - mounting [default: tractor]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/rover_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/scouting_localization_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro melodic showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `earth_rover_localization` at Robotics Stack Exchange

No version for distro noetic showing kinetic. Known supported distros are highlighted in the buttons above.

earth_rover_localization package from earth_rover_localization repo

earth_rover_bed_detection earth_rover_localization

ROS Distro
kinetic

Package Summary

Tags	No category tags.
Version	1.2.0
License	BSD
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/earthrover/earth_rover_localization.git
VCS Type	git
VCS Version	master
Last Updated	2022-08-02
Dev Status	MAINTAINED
CI status	Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Configuration for the EKF of the robot_localization package to use with the Earth Rover Open Agribot.

Additional Links

Maintainers

Andres Palomino
Ricard Pardell

Authors

No additional authors.

Earth Rover localization

This package contains ROS nodes, configuration and launch files to use the EKF of the robot_localization package with the Earth Rover Open Agribot. The package has been tested in Ubuntu 16.04.3 and ROS Kinetic. If you don’t have ROS installed, use the following line.

$ sudo apt-get install ros-kinetic-ros-base

Dependencies

A summary description and links to the corresponding sites are listed below only if browsing further information is needed. The installation steps will download or include necessary configuration details on how to use the required dependences

robot_localization: Robot Localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data. A more detailed documentation explaining this package (nodes, workflow, …) can be found here.
Piksy Driver: Driver compatible with the Swift Navigation devices.
Xsense Driver: Driver for Xsens IMU devices.
GeographicLib: Offers C++ interfaces to a set of geographic transformations.

Dependency on host computer to monitor results.

Mapviz: Visualization tool with a plug-in system similar to RVIZ focused on visualizing 2D data.

Installation and Configuration

On the on-board PC, create a workspace and clone the repository.

	$ mkdir -p ~/earth_rover_ws/src  
	$ cd ~/earth_rover_ws/src 	
	$ git clone --recursive https://github.com/earthrover/earth_rover_localization.git
	

GeographicLib

Download GeographicLib

	$ cd ~/earth_rover_ws
	$ wget https://sourceforge.net/projects/geographiclib/files/distrib/GeographicLib-1.49.tar.gz/download
	

Installation using CMAKE

Unpack the source

	tar xfpz download

then enter the directory created, create a separate build directory and enter it.

	cd GeographicLib-1.49
	mkdir BUILD
	cd BUILD
	

Run cmake, pointing it to the source directory (..)

	cmake ..

Build and install the software. if CMAKE_INSTALL_PREFIX is a system directory

	make
	sudo make install
	

Further installing details can be found [here](https://geographiclib.sourceforge.io/html/install.html).

Robot_localization and Piksy RTK packages

Install the robot localization package

	sudo apt-get install ros-$ROS_DISTRO-robot-localization

**NOTE**: We currently use version **2.6.9**. If the installation with apt installs a newer version, follow the next steps:

- Delete the source installation:

		sudo apt-get remove ros-melodic-robot-localization

- Clone the repo:

		cd ~/earth_rover_ws/src/libs
		git clone https://github.com/cra-ros-pkg/robot_localization.git
		

- Checkout the corresponding tag version:

	cd ~/earth_rover_ws/src/libs/robot_localization
	git checkout tags/2.6.9
	

Download ROS drivers for the Piksi RTK GPS module

``` mkdir -p ~/earth_rover_ws/src/libs

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package earth_rover_localization

1.2.0 (2019-03-05)

Update readme and install SBP script
Fixed piksi package in launch and install targets
Contributors: Andres Palomino

1.0.1 (2019-02-07) -----------* Update dependencies * Contributors: Andres Palomino

1.0.0 (2019-01-28) -----------* Update CMakeList.txt GeographicLib test * Update package.xml build depend * changing package name in launch file * adding dockerfile and docker-compose * Fix package name and update Readme * Contributors: Andres Palomino, Paul Harter

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	rospy
	roscpp
	robot_localization
	tf
	piksi_multi_rtk
	earth_rover_xsens
	std_msgs
	piksi_rtk_msgs
	catkin
	earth_rover_common_messages
	nav_msgs
	sensor_msgs

System Dependencies

Name
geographiclib
geographiclib-tools

Dependant Packages

No known dependants.

Launch files

launch/dual_xsens.launch
- - cam_suffix [default: _0]
launch/er_ekf_visual_odometry.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - color_image_raw [default: /camera0/color/image_raw]
  - color_camera_info [default: /camera0/color/camera_info]
  - depth_image [default: /camera0/depth/image_raw]
  - depth_camera_info [default: /camera0/depth/camera_info]
  - color_image_raw_rect [default: /image_rect_color]
  - depth_image_rect [default: $(arg depth_image)]
  - node_suffix [default: _0]
  - bonding [default: --no-bond]
launch/er_rtabmap_node.launch
- Copyright (C) 2019 Earth Rover Limited. All rights reserved.
- - stereo [default: false]
  - rtabmapviz [default: true]
  - rviz [default: false]
  - localization [default: false]
  - use_sim_time [default: true]
  - cfg [default: ]
  - gui_cfg [default: ~/.ros/rtabmap_gui.ini]
  - rviz_cfg [default: $(find rtabmap_ros)/launch/config/rgbd.rviz]
  - frame_id [default: ugv_base_link]
  - odom_frame_id [default: ]
  - map_frame_id [default: ugv_base_link]
  - ground_truth_frame_id [default: ]
  - ground_truth_base_frame_id [default: ]
  - namespace [default: rtabmap]
  - database_path [default: ~/.ros/rtabmap.db]
  - queue_size [default: 10]
  - wait_for_transform [default: 0.2]
  - args [default: ]
  - rtabmap_args [default: $(arg args)]
  - launch_prefix [default: ]
  - output [default: screen]
  - publish_tf_map [default: false]
  - approx_sync [default: false]
  - approx_sync [default: true]
  - rgb_topic [default: /camera0/color/image_raw]
  - depth_topic [default: /depth_registered/image_rect]
  - camera_info_topic [default: /camera0/color/camera_info]
  - depth_camera_info_topic [default: /depth_registered/camera_info]
  - stereo_namespace [default: /stereo_camera]
  - left_image_topic [default: $(arg stereo_namespace)/left/image_rect_color]
  - right_image_topic [default: $(arg stereo_namespace)/right/image_rect]
  - left_camera_info_topic [default: $(arg stereo_namespace)/left/camera_info]
  - right_camera_info_topic [default: $(arg stereo_namespace)/right/camera_info]
  - rgbd_sync [default: false]
  - approx_rgbd_sync [default: true]
  - subscribe_rgbd [default: $(arg rgbd_sync)]
  - rgbd_topic [default: rgbd_image]
  - depth_scale [default: 1.0]
  - compressed [default: false]
  - rgb_image_transport [default: compressed]
  - depth_image_transport [default: compressedDepth]
  - subscribe_scan [default: false]
  - scan_topic [default: /scan]
  - subscribe_scan_cloud [default: false]
  - scan_cloud_topic [default: /scan_cloud]
  - scan_normal_k [default: 0]
  - visual_odometry [default: true]
  - icp_odometry [default: false]
  - odom_topic [default: odom]
  - vo_frame_id [default: $(arg odom_topic)]
  - publish_tf_odom [default: true]
  - odom_tf_angular_variance [default: 1]
  - odom_tf_linear_variance [default: 1]
  - odom_args [default: ]
  - odom_sensor_sync [default: false]
  - odom_guess_frame_id [default: ]
  - odom_guess_min_translation [default: 0]
  - odom_guess_min_rotation [default: 0]
  - imu_topic [default: /imu/data]
  - wait_imu_to_init [default: false]
  - subscribe_user_data [default: false]
  - user_data_topic [default: /user_data]
  - user_data_async_topic [default: /user_data_async]
  - gps_topic [default: /gps/fix]
  - tag_topic [default: /tag_detections]
  - tag_linear_variance [default: 0.0001]
  - tag_angular_variance [default: 9999]
  - rgb_topic_relay [default: $(arg rgb_topic)_relay]
  - rgb_topic_relay [default: $(arg rgb_topic)]
  - depth_topic_relay [default: $(arg depth_topic)_relay]
  - depth_topic_relay [default: $(arg depth_topic)]
  - left_image_topic_relay [default: $(arg left_image_topic)_relay]
  - left_image_topic_relay [default: $(arg left_image_topic)]
  - right_image_topic_relay [default: $(arg right_image_topic)_relay]
  - right_image_topic_relay [default: $(arg right_image_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)]
  - rgbd_topic_relay [default: $(arg rgbd_topic)_relay]
launch/mapviz.launch
- - print_profile_data [default: true]
launch/piksi_multi_rover_attitude.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.223]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/piksi_multi_rover_reference.launch
- - interface [default: tcp]
  - baud_rate [default: 115200]
  - tcp_addr [default: 192.168.8.222]
  - base_station_ip [default: 192.168.8.1]
  - load_enu_origin_from_file [default: false]
launch/sbp_arbitrator.launch
launch/sbp_logger.launch
launch/visual_odometry_scouting.launch
- - cam_suffix [default: _0]
  - input_rgb_info [default: /camera$(arg cam_suffix)/color/camera_info]
  - input_rgb_img [default: /camera$(arg cam_suffix)/color/image_raw]
  - output_depth_rgb_img [default: /camera$(arg cam_suffix)/aligned_depth_to_color/image_raw]
  - odom_topic [default: odom]
launch/xsens.launch

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