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ekf_localization package from ekf_localization repoekf_localization |
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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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | roscpp | |
| 2 | sensor_msgs | |
| 1 | tf | |
| 2 | std_msgs | |
| 1 | pcl_ros | |
| 1 | tf_conversions | |
| 1 | bfl | |
| 1 | laser_geometry | |
| 2 | nav_msgs | |
| 2 | visualization_msgs | |
| 1 | catkin |
System Dependencies
| Name |
|---|
| libopencv-dev |
Dependant Packages
No known dependants.
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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