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Package symbol

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

Package symbol

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

Package symbol

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 0.4.1
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version kilted
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.1 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Update plugins to new sensors API
  • GPLv3 -> Apache 2.0
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Miguel, migueldm

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

Package symbol

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
lyrical

API Docs
Browse Code

Package Summary

Version 0.4.2
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version lyrical
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.2 (2026-07-26)

  • Complete deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution
  • Check if std is non-positive before creating std::normal_distribution
  • Change map static to base
  • Adaptations to #94
  • Update plugins to new sensors API
  • GPLv3 -> Apache 2.0
  • Improve navstate print including the time
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • Correct publication stamp to input stamp
  • Merge branch 'set_robot_frame' into frames-fix-pr-40
  • TFInfo in RTTFBuffer Optimize execution
  • Optimize random genearator
  • Optimize execution
  • Cleanup unused headers
  • Adaptation to EasyNavigation#71
  • Init pose for RViz2 compliant
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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

easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange

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easynav_costmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_regulated_pp_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

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jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.4.0
License Apache-2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/EasyNavigation/easynav_plugins.git
VCS Type git
VCS Version jazzy
Last Updated 2026-07-26
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

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

Authors and Maintainers

  • Authors: Intelligent Robotics Lab
  • Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_costmap_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_costmap_localizer
  • Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

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

Name Type Default Description
<plugin>.num_particles int 100 Number of AMCL particles.
<plugin>.initial_pose.x double 0.0 Initial X position (m).
<plugin>.initial_pose.y double 0.0 Initial Y position (m).
<plugin>.initial_pose.yaw double 0.0 Initial yaw (rad).
<plugin>.initial_pose.std_dev_xy double 0.5 Std dev used to sample initial X/Y.
<plugin>.initial_pose.std_dev_yaw double 0.5 Std dev used to sample initial yaw.
<plugin>.reseed_freq double 1.0 Reseeding frequency (Hz).
<plugin>.noise_translation double 0.01 Translational noise factor.
<plugin>.noise_rotation double 0.01 Rotational noise factor.
<plugin>.noise_translation_to_rotation double 0.01 Translation-to-rotation noise coupling.
<plugin>.min_noise_xy double 0.05 Minimum XY noise (m).
<plugin>.min_noise_yaw double 0.05 Minimum yaw noise (rad).
<plugin>.compute_odom_from_tf bool false If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false. SensorDataQoS (reliable)
Subscription initialpose geometry_msgs/msg/PoseWithCovarianceStamped Init particles pose to the received pose, using covariance depth=10
Publisher <node_fqn>/<plugin>/particles geometry_msgs/msg/PoseArray Publishes the current particle set. depth=10
Publisher <node_fqn>/<plugin>/pose geometry_msgs/msg/PoseWithCovarianceStamped Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.base Costmap2D Read Base costmap for likelihood evaluation.

TF Frames

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

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.4.0 (2026-07-26)

  • Add missing easynav_sensors deps
  • Avoid creating objects every loop cycle
  • Fix std::normal_distribution when stdev is zero
  • Check if std is non-positive before creating std::normal_distribution Dynamic base costmap
  • Change map static to base
  • Reset pose from RViz2 for every localizer
  • Adaptations to #94
  • Merge branch 'EasyNavigation:rolling' into rolling
  • GPLv3 -> Apache 2.0
  • Sync to current EasyNavigation
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel, migueldm

0.2.1 (2026-02-27)

  • 0.2.0
  • GPLv3 -> Apache 2.0
  • Documentation was corrected
  • Add a base_footprint frame in TFInfo
  • Remove C++20/C++23 features and update to new MethodBase interface
  • TFInfo in RTTFBuffer
  • Refactor to use TFInfo
  • Referencing base class if ot void
  • Optimize execution
  • Cleanup unused headers
  • Update sheets
  • Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange