robot_localization package from robot_localization repo

robot_localization

Package Summary

Tags No category tags.
Version 3.5.3
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/cra-ros-pkg/robot_localization.git
VCS Type git
VCS Version humble-devel
Last Updated 2024-09-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Provides nonlinear state estimation through sensor fusion of an abritrary number of sensors.

Additional Links

Maintainers

  • Tom Moore
  • Steve Macenski

Authors

  • Tom Moore

robot_localization

robot_localization is a package of nonlinear state estimation nodes. The package was developed by Charles River Analytics, Inc.

Please see documentation here: http://wiki.ros.org/robot_localization

CHANGELOG

Changelog for package robot_localization

3.5.3 (2024-04-16)

  • TF Prefix Bug (#876)
  • Fixing angle clamping for humble (#854)
  • Contributors: Tom Moore, rafal-gorecki

3.5.2 (2023-12-20)

  • fix header timestamp (#852) Co-authored-by: Luke Chang <<luke@boxfish.nz>>
  • Wait for odometry message before setting manual datum so that the base and world frame names can be set. (#835)
    • wait for odom msg before setting manual datum
  • Utm using geographiclib humble branch (#834)
    • Add single test for navsat_conversions
    • Add a southern point to the navsat_transform test
    • LLtoUTM using GeographicLib
    • Use GeographicLib for UTMtoLL conversions
    • Linting
    • Forgot include
    • Fix compilation
    • Calculate gamma because it's a function output and was supplied before
    • Also test for gamma conversion
    • Align naming and install
  • Contributors: Luke Chang, Tim Clephas, Tom Greier

3.4.0 (2022-05-05)

  • Fix angles dependency (#747)
    • Add angles to CMakeLists.txt
  • Using angles library to normalize angles (#739)
    • Using angles library for innovation angle normalization
  • Read predict_to_current_time from ROS parameters (#737) Co-authored-by: Zygfryd Wieszok <<zwieszok@autonomous-systems.pl>>
  • Fixed state history reversion (#736) Co-authored-by: Zygfryd Wieszok <<zwieszok@autonomous-systems.pl>>
  • Fixing code style divergence for ament_uncrustify in main ROS2 branch (#743)
  • This fixes #732 (broadcast_cartesian_transform) (#733)
  • Contributors: Anish, Marek Piechula, RoboTech Vision, Tony Najjar, Zygfryd Wieszok

3.3.1 (2022-02-25)

  • Moving to C++17 support (#725)
  • SHARED linking for Geographiclib (#624) (#712) * remove GeographicLib specific linking option Co-authored-by: Achmad Fathoni <<fathoni.id@gmail.com>>

  • Contributors: Stephan Sundermann, Tom Moore

2.4.0 (2017-06-12)

  • Updated documentation
  • Added reset_on_time_jump option
  • Added feature to optionally publish utm frame as parent in navsat_transform_node
  • Moved global callback queue reset
  • Added initial_state parameter and documentation
  • Fixed ac/deceleration gains default logic
  • Added gravity parameter
  • Added delay and throttle if tf lookup fails
  • Fixed UKF IMUTwistBasicIO test
  • Added transform_timeout parameter
  • Set gps_odom timestamp before tf2 lookuptransform
  • Removed non-portable sincos calls
  • Simplified logic to account for correlated error
  • Added dynamic process noise covariance calculation
  • Fixed catkin_package Eigen warning
  • Added optional publication of acceleration state
  • Contributors: Brian Gerkey, Enrique Fernandez, Jochen Sprickerhof, Rein Appeldoorn, Simon Gene Gottlieb, Tom Moore

2.3.1 (2016-10-27)

  • Adding gitignore
  • Adding remaining wiki pages
  • Adding config and prep pages
  • Adding navsat_transform_node documentation
  • use_odometry_yaw fix for n_t_n
  • Fixing issue with manual pose reset when history is not empty
  • Getting inverse transform when looking up robot's pose.
  • Sphinx documentation
  • Removing forward slashes from navsat_transform input topics for template launch file
  • Adding example launch and parameter files for a two-level EKF setup with navsat_transform_node
  • Adding yaml file for navsat_transform_node, and moving parameter documentation to it.
  • Updating EKF and UKF parameter templates with usage comments
  • Contributors: Tom Moore, asimay

2.3.0 (2016-07-28)

  • Fixed issues with datum usage and frame_ids
  • Fixed comment for wait_for_datum
  • Fixing issue with non-zero navsat sensor orientation offsets
  • Fixing issue with base_link->gps transform wrecking the 'true' UTM position computation
  • Using correct covariance for filtered GPS
  • Fixed unitialized odometry covariance bug
  • Added filter history and measurement queue behavior
  • Changing output timestamp to more accurately use the time stamp of the most recently-processed measurement
  • Added TcpNoDelay()
  • Added parameter to make transform publishing optional
  • Fixed differential handling for pose data so that it doesn't care about the message's frame_id
  • Updated UKF config and launch
  • Added a test case for the timestamp diagnostics
  • Added reporting of bad timestamps via diagnostics
  • Updated tests to match new method signatures
  • Added control term
  • Added smoothing capability for delayed measurements
  • Making variables in navsat_transform conform to ROS coding standards
  • Contributors: Adel Fakih, Ivor Wanders, Marc Essinger, Tobias Tueylue, Tom Moore

2.2.3 (2016-04-24)

  • Cleaning up callback data structure and callbacks and updating doxygen comments in headers
  • Removing MessageFilters
  • Removing deprecated parameters
  • Adding the ability to handle GPS offsets from the vehicle's origin
  • Cleaning up navsat_transform.h
  • Making variables in navsat_transform conform to ROS coding standards

2.2.2 (2016-02-04)

  • Updating trig functions to use sincos for efficiency
  • Updating licensing information and adding Eigen MPL-only flag
  • Added state to imu frame transformation
  • Using state orientation if imu orientation is missing
  • Manually adding second spin for odometry and IMU data that is passed to message filters
  • Reducing delay between measurement reception and filter output
  • Zero altitute in intital transform too, when zero altitude param is set
  • Fixing regression with conversion back to GPS coordinates
  • Switched cropping of orientation data in inovationSubset with mahalanobis check to prevent excluding measurements with orientations bigger/smaller than ± PI
  • Fix Jacobian for EKF.
  • Removing warning about orientation variables when only their velocities are measured
  • Checking for -1 in IMU covariances and ignoring relevant message data
  • roslint and catkin_lint applied
  • Adding base_link to datum specification, and fixing bug with order of measurement handling when a datum is specified. Also added check to make sure IMU data is transformable before using it.
  • Contributors: Adnan Ademovic, Jit Ray Chowdhury, Philipp Tscholl, Tom Moore, ayrton04, kphil

2.2.1 (2015-05-27)

  • Fixed handling of IMU data w.r.t. differential mode and relative mode

2.2.0 (2015-05-22)

  • Added tf2-friendly tf_prefix appending
  • Corrected for IMU orientation in navsat_transform
  • Fixed issue with out-of-order measurements and pose resets
  • Nodes now assume ENU standard for yaw data
  • Removed gps_common dependency
  • Adding option to navsat_transform_node that enables the use of the heading from the odometry message instead of an IMU.
  • Changed frame_id used in setPoseCallback to be the world_frame
  • Optimized Eigen arithmetic for signficiant performance boost
  • Migrated to tf2
  • Code refactoring and reorganization
  • Removed roll and pitch from navsat_transform calculations
  • Fixed transform for IMU data to better support mounting IMUs in non-standard orientations
  • Added feature to navsat_transform_node whereby filtered odometry data can be coverted back into navsat data
  • Added a parameter to allow future dating the world_frame->base_link_frame transform.
  • Removed deprecated differential setting handler
  • Added relative mode
  • Updated and improved tests
  • Fixing source frame_id in pose data handling
  • Added initial covariance parameter
  • Fixed bug in covariance copyinh
  • Added parameters for topic queue sizes
  • Improved motion model's handling of angular velocities when robot has non-zero roll and pitch
  • Changed the way differential measurements are handled
  • Added diagnostics

2.1.7 (2015-01-05)

  • Added some checks to eliminate unnecessary callbacks
  • Updated launch file templates
  • Added measurement outlier rejection
  • Added failure callbacks for tf message filters
  • Added optional broadcast of world_frame->utm transform for navsat_transform_node
  • Bug fixes for differential mode and handling of Z acceleration in 2D mode

2.1.6 (2014-11-06)

  • Added unscented Kalman filter (UKF) localization node
  • Fixed map->odom tf calculation
  • Acceleration data from IMUs is now used in computing the state estimate
  • Added 2D mode

2.1.5 (2014-10-07)

  • Changed initial estimate error covariance to be much smaller
  • Fixed some debug output
  • Added test suite
  • Better compliance with REP-105
  • Fixed differential measurement handling
  • Implemented message filters
  • Added navsat_transform_node

2.1.4 (2014-08-22)

  • Adding utm_transform_node to install targets

2.1.3 (2014-06-22)

  • Some changes to ease GPS integration
  • Addition of differential integration of pose data
  • Some documentation cleanup
  • Added UTM transform node and launch file
  • Bug fixes

2.1.2 (2014-04-11)

  • Updated covariance correction formulation to "Joseph form" to improve filter stability.
  • Implemented new versioning scheme.

2.1.1 (2014-04-11)

  • Added cmake_modules dependency for Eigen support, and added include to silence boost::signals warning from tf include

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

No launch files found

Messages

No message files found.

Plugins

No plugins found.

Recent questions tagged robot_localization at Robotics Stack Exchange