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kalman_filter_localization package from kalman_filter_localization repo

kalman_filter_localization

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Package Summary

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

Repository Summary

Description kalmal filter localization
Checkout URI https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type git
VCS Version devel
Last Updated 2025-04-16
Dev Status UNKNOWN
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

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Messages

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Services

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Plugins

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