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localization_node package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer imu_bias_tester interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2023-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package localizes the Astrobee on a map.

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/localization_node/readme.md

\page localization_node Localization Node

The localization node (localization_node) takes an input a sparse map built from previously acquired nav_cam images. It subscribes for incoming nav_cam images, and for each of them finds the pose of the nav_cam at the time the image was acquired based on the sparse map. It publishes this pose together with the sparse map features it used to find it on /loc/ml/features. A registration pulse is published on /loc/ml/registration.

For testing purposes, this node can be started by itself on the robot, or even on a local machine. How to do it while using a desired sparse map, is described in

localization/sparse_mapping/build_map.md

(at the bottom of the page).

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/localization_node.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: localization_node]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged localization_node at answers.ros.org

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localization_node package from astrobee repo

astrobee arm dock light_flow perch states dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry graph_localizer graph_optimizer ground_truth_localizer handrail_detect imu_augmentor imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking optimization_common point_cloud_common sparse_mapping vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer imu_bias_tester interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2023-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package localizes the Astrobee on a map.

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
localization/localization_node/readme.md

\page localization_node Localization Node

The localization node (localization_node) takes an input a sparse map built from previously acquired nav_cam images. It subscribes for incoming nav_cam images, and for each of them finds the pose of the nav_cam at the time the image was acquired based on the sparse map. It publishes this pose together with the sparse map features it used to find it on /loc/ml/features. A registration pulse is published on /loc/ml/registration.

For testing purposes, this node can be started by itself on the robot, or even on a local machine. How to do it while using a desired sparse map, is described in

localization/sparse_mapping/build_map.md

(at the bottom of the page).

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/localization_node.launch
    • Copyright (c) 2017, United States Government, as represented by the
      • name [default: localization_node]
      • manager [default: ]
      • terminal [default: ]

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged localization_node at answers.ros.org