ROS index logo ROS Index
  1. Home
  2. Packages
  3. kalman_filter_localization
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

kalman_filter_localization package from kalman_filter_localization repo

kalman_filter_localization

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2023-12-07
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

ros2 package of Kalman Filter Based Localization

Additional Links

No additional links.

Maintainers

  • sasaki

Authors

No additional authors.
README.md

Kalman Filter Localization

Kalman Filter Localization is a ros2 package of Kalman Filter Based Localization in 3D using GNSS/IMU/Odometry(Visual Odometry/Lidar Odometry).

node

ekf_localization_node

  • input
    /initial_pose (geometry_msgs/PoseStamed)
    /gnss_pose (geometry_msgs/PoseStamed)
    /imu (sensor_msgs/Imu)
    /odom (nav_msgs/Odometry)
    /tf(/base_link(robot frame) → /imu_link(imu frame))
  • output
    /curent_pose (geometry_msgs/PoseStamped)

params

Name Type Default value Description
pub_period int 10 publish period[ms]
var_gnss_xy double 0.1 variance of a gnss receiver about position xy[m^2]
var_gnss_z double 0.15 variance of a gnss receiver about position z[m^2]
var_odom_xyz double 0.1 variance of an odometry[m^2]
var_imu_w double 0.01 variance of an angular velocity sensor[(deg/sec)^2]
var_imu_acc double 0.01 variance of an accelerometer[(m/sec^2)^2]
use_gnss bool true whether gnss is used or not
use_odom bool false whether odom(lo/vo) is used or not

demo

rosbag demo data(ROS1)

rviz2 -d src/kalman_filter_localization/rviz/ekfl_demo.rviz


ros2 launch kalman_filter_localization ekf.launch.py


ros2 topic pub ekf_localization/initial_pose geometry_msgs/PoseStamped '{header: {stamp: {sec: 1532228824, nanosec: 55000000}, frame_id: "map"}, pose: {position: {x: 0, y: 0, z: 10}, orientation: {z: 1, w: 0}}}' --once


ros2 bag play -s rosbag_v2 test.bag

demo
blue:initial pose, red:gnss pose, green: fusion pose

references

  • K Feng,”A New Quaternion-Based Kalman Filter”,2017
  • Joan Solà,”Quaternion kinematics for the error-state Kalman filter”,2017
  • Daniel Choukroun et al,”A Novel Quaternion Kalman Filter”,2006
  • An Improved EKF - The Error State Extended Kalman Filter
  • Weikun Zhen, Sam Zeng, and Sebastian Scherer. “Robust Localization and Localizability Estimation with a Rotating Laser Scanner” , 2017.
CHANGELOG
No CHANGELOG found.

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.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kalman_filter_localization at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.