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easynav_gps_localizer package from easynav_plugins repo

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ROS Distro
jazzy

API Docs
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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: GPS Localizer package.

Maintainers

Jose Miguel Guerrero Hernandez

Authors

No additional authors.

localizers/easynav_gps_localizer/README.md

easynav_gps_localizer

Description

GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

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_gps_localizer/GpsLocalizer
Type: easynav::GpsLocalizer
Base Class: easynav::LocalizerMethodBase
Library: gps_localizer
Description: GPS-based localizer that fuses NavSatFix and IMU to publish odometry in an odom-like frame.

Parameters

This plugin does not declare configurable ROS parameters.

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`robot/gps/fix`	`sensor_msgs/msg/NavSatFix`	Raw GPS fix.	SensorDataQoS (reliable)
Subscription	`imu/data`	`sensor_msgs/msg/Imu`	IMU orientation for yaw fusion.	SensorDataQoS (reliable)
Publisher	`robot/odom_gps`	`nav_msgs/msg/Odometry`	Odometry fused from GPS + IMU (UTM-projected).	SensorDataQoS

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`robot_pose`	`nav_msgs::msg::Odometry`	Write	GPS-based odometry estimate.

TF Frames

Role	Transform	Notes
Publishes	`map (or world) -> odom_gps`	Static or slowly varying transform aligning UTM to local odometry frame.
Optional	`base_link -> imu`	Used implicitly via IMU orientation; not looked up explicitly in this plugin.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_gps_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
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_lifecycle
	easynav_core
	easynav_common
	pluginlib
	geographic_msgs

System Dependencies

Name
geographiclib

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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