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ekf_localization package from ekf_localization repoekf_localization |
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Package Summary
| Tags | No category tags. |
| Version | 0.0.2 |
| License | TODO |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/vislab-tecnico-lisboa/ekf_localization.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2016-05-11 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The advanced_robotics package
Additional Links
No additional links.
Maintainers
- rui
Authors
No additional authors.
ekf_localization
A ROS package for mobile robot localization using an extended Kalman Filter
Description
This repository contains a ROS package for solving the mobile robot localization problem with an extended Kalman Filter.
In this methodology, the Iterative Closest Point (ICP) algorithm is employed for matching laser scans to a grid-based map. The obtained alignment transformation is directly employed to obtain the residual measurement and covariance matrices.
This implementation employs a landmark-free EKF localization algorithm which relies on the transformation obtained by an ICP scan-matcher (between a known map and the laser measurements) as the residual to perform correction after the prediction step.
Furthermore, the method uses the well-studied odometry motion model detailed in [Thrun et al. 2005].
CHANGELOG
Changelog for package ekf_localization
0.0.1 (2016-04-27)
- more fixes
- added visualziation_msgs dependency
- fix
- fixing travis testing problems
- added opencv dependency to travis.yml
- fix
- changed dependencies file
- Merge branch 'master' of https://github.com/vislab-tecnico-lisboa/ekf_localization
- travis tests
- Delete CMakeLists.txt.user
- gitignoring .user files
- porting to vislab
- porting to vislab
- Initial commit
- fixes
- fixes
- fixes
- working on the update frequency stuff
- fixes
- fixes
- integrated orocos Bayesian library
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- fixes
- first commit
- Contributors: Rui Miguel Horta Pimentel de Figueiredo, ruipimentelfigueiredo
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.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| sensor_msgs | |
| tf | |
| std_msgs | |
| pcl_ros | |
| tf_conversions | |
| bfl | |
| laser_geometry | |
| nav_msgs | |
| visualization_msgs | |
| catkin |
System Dependencies
| Name |
|---|
| libopencv-dev |
Dependant Packages
No known dependants.
Launch files
- launch/ekf_localization.launch
-
- scan_topic [default: scan]
- rosbag_file_1 [default: homework1/dataset/dataset_2013-10-09-15-10-03.bag]
- map_file [default: $(find advanced_robotics)/homework1/maps/gmapping/map]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged ekf_localization at Robotics Stack Exchange
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