easynav_gps_localizer

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.1 (2026-07-26)

Add missing easynav_sensors deps
Update README.md for all localizers
Reset pose from RViz2 for every localizer
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, Juan S. Cely, Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.2 (2026-07-26)

Complete deps
Update README.md for all localizers
Reset pose from RViz2 for every localizer
GPLv3 -> Apache 2.0
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
Merge branch 'set_robot_frame' into frames-fix-pr-40
TFInfo in RTTFBuffer
Refactor to use TFInfo
linting docs
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Miguel, migueldm

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	nav_msgs
	sensor_msgs
	geometry_msgs
	tf2
	tf2_ros
	tf2_geometry_msgs

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange

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

easynav_gps_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

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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

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

Name	Type	Default	Description
`<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).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Seed/reset the localizer pose from an external initial pose estimate.	depth=10
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_localizer

0.4.0 (2026-07-26)

Add missing easynav_sensors deps
GPLv3 -> Apache 2.0
Contributors: Francisco Martín Rico, 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

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs
	geometry_msgs
	nav_msgs
	sensor_msgs
	tf2
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
geographiclib

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `easynav_gps_localizer` at Robotics Stack Exchange