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
Released RELEASED

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.

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 answers.ros.org