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Package symbol

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

Package symbol

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

Package symbol

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 0.3.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange

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

easynav_simple_localizer package from easynav_plugins repo

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

ROS Distro
jazzy

API Docs
Browse Code
Wiki

Package Summary

Version 0.2.1
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: Simple Localizer package.

Maintainers

  • Francisco Martín Rico

Authors

No additional authors.
localizers/easynav_simple_localizer/README.md

easynav_simple_localizer

Description

AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Authors and Maintainers

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

Supported ROS 2 Distributions

Distribution Status
humble kilted
jazzy kilted
kilted kilted
rolling rolling

Plugin (pluginlib)

  • Plugin Name: easynav_simple_localizer/AMCLLocalizer
  • Type: easynav::AMCLLocalizer
  • Base Class: easynav::LocalizerMethodBase
  • Library: easynav_simple_localizer
  • Description: AMCL-style localizer using a simple 2D grid-like map for scoring and odometry for prediction.

Parameters

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

Interfaces (Topics and Services)

Subscriptions and Publications

Direction Topic Type Purpose QoS
Subscription /odom nav_msgs/msg/Odometry Read odometry when compute_odom_from_tf=false (not present here). 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 Estimated pose with covariance. depth=10

Services

This package does not create service servers or clients.

Key Type Access Notes
points PointPerceptions Read Perception point clouds used in correction.
map.static SimpleMap Read Static map for likelihood evaluation.
robot_pose nav_msgs::msg::Odometry Write Estimated robot pose.

TF Frames

Role Transform Notes
Publishes map -> odom Aligns the odometry frame with the map frame.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_simple_localizer

0.2.1 (2026-02-27)

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

0.0.2 (2025-10-12)

  • Reorganization initial
  • Contributors: Francisco Martín Rico

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged easynav_simple_localizer at Robotics Stack Exchange