ROS IndexNo version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| rolling |  |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
Package Summary
| Version | 0.3.1 |
| 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 | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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_navmap_localizer at Robotics Stack Exchange
No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.2.1 |
| 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 | jazzy |
| Last Updated | 2026-02-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: nAVmAP Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_navmap_localizer
Description
Easy Navigation: nAVmAP Localizer package.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_navmap_localizer/AMCLLocalizer -
Type:
easynav::navmap::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_navmap_localizer - Description: A default “navmap” implementation for the AMCL localizer.
Parameters
All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_localizer/AMCLLocalizer/....
| Name | Type | Default | Description |
|---|---|---|---|
<plugin>.num_particles |
int |
100 |
Number of AMCL particles. |
<plugin>.initial_pose.x |
double |
0.0 |
Initial X position (m). |
<plugin>.initial_pose.y |
double |
0.0 |
Initial Y position (m). |
<plugin>.initial_pose.yaw |
double |
0.0 |
Initial yaw (rad). |
<plugin>.initial_pose.std_dev_xy |
double |
0.5 |
Std dev used to sample initial X/Y. |
<plugin>.initial_pose.std_dev_yaw |
double |
0.5 |
Std dev used to sample initial yaw. |
<plugin>.reseed_freq |
double |
1.0 |
Reseeding frequency (Hz). |
<plugin>.noise_translation |
double |
0.01 |
Translational noise factor. |
<plugin>.noise_rotation |
double |
0.01 |
Rotational noise factor. |
<plugin>.noise_translation_to_rotation |
double |
0.01 |
Translation-to-rotation noise coupling. |
<plugin>.min_noise_xy |
double |
0.05 |
Minimum XY noise (m). |
<plugin>.min_noise_yaw |
double |
0.05 |
Minimum yaw noise (rad). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
<plugin>.inflation_stddev |
double |
0.05 |
Std dev used in occupancy inflation (m). |
<plugin>.inflation_prob_min |
double |
0.01 |
Minimum occupancy probability after inflation. |
<plugin>.correct_max_points |
int |
1500 |
Maximum points used per correction step (after downsampling). |
<plugin>.weights_tau |
double |
0.7 |
Exponential decay factor for particle weight smoothing. |
<plugin>.top_keep_fraction |
double |
0.2 |
Fraction of top particles to keep before reseeding. |
<plugin>.downsampled_cloud_size |
double |
0.05 |
Voxel size for point cloud downsampling (m). |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | /odom |
nav_msgs/msg/Odometry |
Used only when <plugin>.compute_odom_from_tf = false
|
SensorDataQoS (reliable) |
| Publisher | <node_fqn>/<plugin>/particles |
geometry_msgs/msg/PoseArray |
Publishes the current particle set | depth=10 |
| Publisher | <node_fqn>/<plugin>/pose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Publishes the estimated pose with covariance | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
imu |
IMUPerceptions |
Read | Used to get the latest IMU orientation when available. |
points |
PointPerceptions |
Read | 3D point cloud bundles used in the correction step. |
map.navmap |
::navmap::NavMap |
Read | Triangle mesh map providing surface geometry and elevation. |
map.bonxai |
Bonxai::ProbabilisticMap |
Read | Probabilistic occupancy map used for scoring. |
map.bonxai.inflated |
Bonxai::ProbabilisticMap |
Write/Read | Inflated map cached on first access for faster scoring. |
robot_pose |
nav_msgs::msg::Odometry |
Write | Estimated robot pose stored at the end of update/predict. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Broadcasts the global transform that aligns the odometry frame with the map frame. |
| Requires | odom -> base_footprint |
Required only when <plugin>.compute_odom_from_tf = true (read from TF). |
| Requires | base_footprint -> <sensor_frame> |
Required to transform perception point clouds into the robot base frame during correction. |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_navmap_localizer
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
No direct system dependencies.
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.