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ekf_localization package from ekf_localization repo

ekf_localization

Package Summary

Tags No category tags.
Version 0.0.2
License TODO
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/vislab-tecnico-lisboa/ekf_localization.git
VCS Type git
VCS Version indigo-devel
Last Updated 2016-05-11
Dev Status DEVELOPED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The advanced_robotics package

Additional Links

No additional links.

Maintainers

  • rui

Authors

No additional authors.

ekf_localization

A ROS package for mobile robot localization using an extended Kalman Filter

Description

This repository contains a ROS package for solving the mobile robot localization problem with an extended Kalman Filter.

In this methodology, the Iterative Closest Point (ICP) algorithm is employed for matching laser scans to a grid-based map. The obtained alignment transformation is directly employed to obtain the residual measurement and covariance matrices.

This implementation employs a landmark-free EKF localization algorithm which relies on the transformation obtained by an ICP scan-matcher (between a known map and the laser measurements) as the residual to perform correction after the prediction step.
Furthermore, the method uses the well-studied odometry motion model detailed in [Thrun et al. 2005].

CHANGELOG

Changelog for package ekf_localization

0.0.1 (2016-04-27)

  • more fixes
  • added visualziation_msgs dependency
  • fix
  • fixing travis testing problems
  • added opencv dependency to travis.yml
  • fix
  • changed dependencies file
  • Merge branch 'master' of https://github.com/vislab-tecnico-lisboa/ekf_localization
  • travis tests
  • Delete CMakeLists.txt.user
  • gitignoring .user files
  • porting to vislab
  • porting to vislab
  • Initial commit
  • fixes
  • fixes
  • fixes
  • working on the update frequency stuff
  • fixes
  • fixes
  • integrated orocos Bayesian library
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • fixes
  • first commit
  • Contributors: Rui Miguel Horta Pimentel de Figueiredo, ruipimentelfigueiredo

Wiki Tutorials

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

Launch files

  • launch/ekf_localization.launch
      • scan_topic [default: scan]
      • rosbag_file_1 [default: homework1/dataset/dataset_2013-10-09-15-10-03.bag]
      • map_file [default: $(find advanced_robotics)/homework1/maps/gmapping/map]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ekf_localization at Robotics Stack Exchange

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