husarion_ugv_localization package from husarion_ugv_ros repo

husarion_ugv husarion_ugv_battery husarion_ugv_bringup husarion_ugv_controller husarion_ugv_description husarion_ugv_diagnostics husarion_ugv_gazebo husarion_ugv_hardware_interfaces husarion_ugv_lights husarion_ugv_localization husarion_ugv_manager husarion_ugv_msgs husarion_ugv_utils

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	2.2.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS package for Panther autonomous mobile robot
Checkout URI	https://github.com/husarion/husarion_ugv_ros.git
VCS Type	git
VCS Version	humble
Last Updated	2025-04-04
Dev Status	DEVELOPED
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

robot localization configuration for Husarion UGV

Additional Links

Maintainers

Husarion

Authors

Rafal Gorecki

husarion_ugv_localization/README.md

husarion_ugv_localization

The package is responsible for activating mods responsible for fusion of data related to the robot’s location.

Launch files

This package contains:

localization.launch.py: Responsible for activating EKF filtration along with the necessary dependencies needed to operate GPS.
nmea_navsat.launch.py: Responsible for launching the NMEA NavSat driver node.

Configuration Files

enu_localization.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders and IMU. Orientation follows East-North-Up (ENU) coordinates.
enu_localization_with_gps.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU, and GPS. Orientation follows East-North-Up (ENU) coordinates.
nmea_navsat.yaml: contains parameters for NMEA NavSat driver node.
relative_localization.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU. The initial orientation is always 0 in relative mode.
relative_localization_with_gps.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU, and GPS. The initial orientation is always 0 in relative mode.

CHANGELOG

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package husarion_ugv_localization \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

2.2.1 (2025-04-04)

Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-shutdown-request
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-enchance-performance
Contributors: kmakd

2.2.0 (2025-03-13)

Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-devel
Merge pull request #496 from husarion/repo-rename
update links
Merge branch 'ros2-devel' into lights-new
Add log level argument to launch files (#473)
Merge lynx_description and panther_description into husarion_ugv_descriptions (#456)
Merge pull request #466 from husarion/ros2-add-msgs
Merge branch 'ros2-devel' into ros2-add-msgs
Merge branch 'ros2-devel' into add-panther-diagnostics-config
Merge remote-tracking branch 'origin/ros2-devel' into ros2-devel
Merge pull request #460 from husarion/ros2-devel-better-config-dir
Add husarion_ugv_msgs
optional config dir
Merge pull request #457 from husarion/ros2-lynx-devel
Merge branch 'ros2-devel' of https://github.com/husarion/panther_ros into ros2-lynx-devel
Merge pull request #444 from husarion/ros2-config-dir
use configs from /config dir
Ros2 husarion ugv v2 (#422)
Contributors: BOOTCFG, Dawid Kmak, Jakub Delicat, Miłosz Łagan, Rafal Gorecki, Stefan, kmakd, rafal-gorecki

2.1.2 (2024-12-02)

Merge branch 'ros2-devel' into ros2-lights-tests
Contributors: pawelirh

2.1.1 (2024-09-05)

Merge branch 'ros2-devel' into ros2-ns-refactor
Add pre-commit workflow (#395)
Merge pull request #388 from husarion/ros2-add-nmea-gps
update names
update docs
Merge remote-tracking branch 'origin/ros2-devel' into ros2-testing-poc
add nmea gps
Ros2 estop sim gui (#384)
Merge branch 'ros2-devel' into ros2-ns-refactor
unify CMakeLists.txt files (#381)
unify CMakeLists.txt files
New format of documentation (#369)
Contributors: Dawid, Dawid Kmak, KmakD, Paweł Irzyk, kmakd, pawelirh, rafal-gorecki

2.1.0 (2024-08-02)

Process noise update (#361)
Merge pull request #362 from husarion/ros2-api-reorganization
Improve set_pose topic description
Minor readme updates
Enhance ROS API names in the stack
Contributors: Dawid Kmak, pawelirh, rafal-gorecki

2.0.4 (2024-06-28)

Add EKF GPS configuration (#351)
Merge branch 'ros2-devel' into ros2-gz-lights
Merge remote-tracking branch 'origin/ros2-devel' into ros2-gpio-controller-revision
Merge branch 'ros2' into ros2-build-in-animation
Merge branch 'ros2' into ros2-gz-lights
Contributors: pawelirh, rafal-gorecki

2.0.3 (2024-06-06)

Merge pull request #320 from husarion/ros2-clear-logs
Minor log changes
Contributors: Dawid Kmak, pawelirh

2.0.2 (2024-06-05)

Launch refactor (#307)
Contributors: rafal-gorecki

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
	ament_cmake
	husarion_ugv_utils
	nav2_common
	nmea_navsat_driver
	robot_localization

System Dependencies

Name
python3-transforms3d

Dependant Packages

Name	Deps
husarion_ugv_bringup
husarion_ugv_gazebo

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `husarion_ugv_localization` at Robotics Stack Exchange

API Docs Browse Code