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easynav_costmap_localizer package from easynav_plugins repo

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ROS Distro
jazzy

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Package Summary

Version	0.2.1
License	Apache-2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/EasyNavigation/easynav_plugins.git
VCS Type	git
VCS Version	jazzy
Last Updated	2026-02-27
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Easy Navigation: Costmap Localizer package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

localizers/easynav_costmap_localizer/README.md

easynav_costmap_localizer

Description

AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Authors and Maintainers

Authors: Intelligent Robotics Lab
Maintainers: Francisco Martín Rico fmrico@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
rolling

Plugin (pluginlib)

Plugin Name: easynav_costmap_localizer/AMCLLocalizer
Type: easynav::AMCLLocalizer
Base Class: easynav::LocalizerMethodBase
Library: easynav_costmap_localizer
Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_localizer/AMCLLocalizer/....

Name	Type	Default	Description
`<plugin>.num_particles`	`int`	`100`	Number of AMCL particles.
`<plugin>.initial_pose.x`	`double`	`0.0`	Initial X position (m).
`<plugin>.initial_pose.y`	`double`	`0.0`	Initial Y position (m).
`<plugin>.initial_pose.yaw`	`double`	`0.0`	Initial yaw (rad).
`<plugin>.initial_pose.std_dev_xy`	`double`	`0.5`	Std dev used to sample initial X/Y.
`<plugin>.initial_pose.std_dev_yaw`	`double`	`0.5`	Std dev used to sample initial yaw.
`<plugin>.reseed_freq`	`double`	`1.0`	Reseeding frequency (Hz).
`<plugin>.noise_translation`	`double`	`0.01`	Translational noise factor.
`<plugin>.noise_rotation`	`double`	`0.01`	Rotational noise factor.
`<plugin>.noise_translation_to_rotation`	`double`	`0.01`	Translation-to-rotation noise coupling.
`<plugin>.min_noise_xy`	`double`	`0.05`	Minimum XY noise (m).
`<plugin>.min_noise_yaw`	`double`	`0.05`	Minimum yaw noise (rad).
`<plugin>.compute_odom_from_tf`	`bool`	`false`	If true, read odometry from TF (odom->base_footprint) instead of /odom topic.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`odom`	`nav_msgs/msg/Odometry`	Read odometry when compute_odom_from_tf=false.	SensorDataQoS (reliable)
Subscription	`initialpose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Init particles pose to the received pose, using covariance	depth=10
Publisher	`<node_fqn>/<plugin>/particles`	`geometry_msgs/msg/PoseArray`	Publishes the current particle set.	depth=10
Publisher	`<node_fqn>/<plugin>/pose`	`geometry_msgs/msg/PoseWithCovarianceStamped`	Estimated pose with covariance.	depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`points`	`PointPerceptions`	Read	Perception point clouds used in correction.
`map.static`	`Costmap2D`	Read	Static costmap for likelihood evaluation.

TF Frames

Role	Transform	Notes
Publishes	`map -> odom`	Aligns the odometry frame with the map frame.
Requires (optional)	`odom -> base_footprint`	Required when compute_odom_from_tf=true (read from TF).

License

Apache-2.0

CHANGELOG

Changelog for package easynav_costmap_localizer

0.2.1 (2026-02-27)

0.2.0
GPLv3 -> Apache 2.0
Documentation was corrected
Add a base_footprint frame in TFInfo
Remove C++20/C++23 features and update to new MethodBase interface
TFInfo in RTTFBuffer
Refactor to use TFInfo
Referencing base class if ot void
Optimize execution
Cleanup unused headers
Update sheets
Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely G., Miguel

0.0.2 (2025-10-12)

Reorganization initial
Contributors: Francisco Martín Rico

Package Dependencies

Deps	Name
	ament_cmake
	rclcpp
	rclcpp_lifecycle
	std_srvs
	ament_lint_auto
	ament_lint_common
	ament_cmake_gtest
	easynav_common
	easynav_costmap_common
	easynav_localizer
	easynav_core
	pluginlib
	tf2
	tf2_ros
	tf2_geometry_msgs
	geometry_msgs
	nav_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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