No version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.

easynav_navmap_localizer package from easynav_plugins repo

easynav_costmap_common easynav_simple_common easynav_mpc_controller easynav_mppi_controller easynav_serest_controller easynav_simple_controller easynav_vff_controller easynav_costmap_localizer easynav_fusion_localizer easynav_gps_localizer easynav_navmap_localizer easynav_simple_localizer easynav_bonxai_maps_manager easynav_costmap_maps_manager easynav_navmap_maps_manager easynav_octomap_maps_manager easynav_routes_maps_manager easynav_simple_maps_manager easynav_costmap_planner easynav_navmap_planner easynav_simple_planner

ROS Distro
jazzy

API Docs
Browse Code

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: nAVmAP Localizer package.

Maintainers

Francisco Martín Rico

Authors

No additional authors.

localizers/easynav_navmap_localizer/README.md

easynav_navmap_localizer

Description

Easy Navigation: nAVmAP Localizer package.

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_navmap_localizer/AMCLLocalizer
Type: easynav::navmap::AMCLLocalizer
Base Class: easynav::LocalizerMethodBase
Library: easynav_navmap_localizer
Description: A default “navmap” implementation for the AMCL localizer.

Parameters

All parameters are declared under the plugin name namespace, i.e., /<node_fqn>/easynav_navmap_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.
`<plugin>.inflation_stddev`	`double`	`0.05`	Std dev used in occupancy inflation (m).
`<plugin>.inflation_prob_min`	`double`	`0.01`	Minimum occupancy probability after inflation.
`<plugin>.correct_max_points`	`int`	`1500`	Maximum points used per correction step (after downsampling).
`<plugin>.weights_tau`	`double`	`0.7`	Exponential decay factor for particle weight smoothing.
`<plugin>.top_keep_fraction`	`double`	`0.2`	Fraction of top particles to keep before reseeding.
`<plugin>.downsampled_cloud_size`	`double`	`0.05`	Voxel size for point cloud downsampling (m).

Interfaces (Topics and Services)

Subscriptions and Publications

Direction	Topic	Type	Purpose	QoS
Subscription	`/odom`	`nav_msgs/msg/Odometry`	Used only when `<plugin>.compute_odom_from_tf = false`	SensorDataQoS (reliable)
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`	Publishes the estimated pose with covariance	depth=10

Services

This package does not create service servers or clients.

NavState Keys

Key	Type	Access	Notes
`imu`	`IMUPerceptions`	Read	Used to get the latest IMU orientation when available.
`points`	`PointPerceptions`	Read	3D point cloud bundles used in the correction step.
`map.navmap`	`::navmap::NavMap`	Read	Triangle mesh map providing surface geometry and elevation.
`map.bonxai`	`Bonxai::ProbabilisticMap`	Read	Probabilistic occupancy map used for scoring.
`map.bonxai.inflated`	`Bonxai::ProbabilisticMap`	Write/Read	Inflated map cached on first access for faster scoring.
`robot_pose`	`nav_msgs::msg::Odometry`	Write	Estimated robot pose stored at the end of update/predict.

TF Frames

Role	Transform	Notes
Publishes	`map -> odom`	Broadcasts the global transform that aligns the odometry frame with the map frame.
Requires	`odom -> base_footprint`	Required only when `<plugin>.compute_odom_from_tf = true` (read from TF).
Requires	`base_footprint -> <sensor_frame>`	Required to transform perception point clouds into the robot base frame during correction.

License

Apache-2.0

CHANGELOG

Changelog for package easynav_navmap_localizer

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
	navmap_core
	navmap_ros
	navmap_ros_interfaces
	easynav_bonxai_maps_manager
	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.

Recent questions tagged `easynav_navmap_localizer` at Robotics Stack Exchange

API Docs Browse Code