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kalman_filter_localization package from kalman_filter_localization repo

kalman_filter_localization

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	kalmal filter localization ros2
Checkout URI	https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type	git
VCS Version	devel
Last Updated	2025-04-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	imu gnss
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ros2 package of Kalman Filter Based Localization

Additional Links

No additional links.

Maintainers

sasaki

Authors

No additional authors.

README.md

Kalman Filter Localization

Kalman Filter Localization is a ros2 package of Kalman Filter Based Localization in 3D using GNSS/IMU/Odometry(Visual Odometry/Lidar Odometry).

node

ekf_localization_node

input
/initial_pose (geometry_msgs/PoseStamed)
/gnss_pose (geometry_msgs/PoseStamed)
/imu (sensor_msgs/Imu)
/odom (nav_msgs/Odometry)
/tf(/base_link(robot frame) → /imu_link(imu frame))
output
/curent_pose (geometry_msgs/PoseStamped)

params

Name	Type	Default value	Description
pub_period	int	10	publish period[ms]
var_gnss_xy	double	0.1	variance of a gnss receiver about position xy[m^2]
var_gnss_z	double	0.15	variance of a gnss receiver about position z[m^2]
var_odom_xyz	double	0.1	variance of an odometry[m^2]
var_imu_w	double	0.01	variance of an angular velocity sensor[(deg/sec)^2]
var_imu_acc	double	0.01	variance of an accelerometer[(m/sec^2)^2]
use_gnss	bool	true	whether gnss is used or not
use_odom	bool	false	whether odom(lo/vo) is used or not

demo

rosbag demo data(ROS1)

rviz2 -d src/kalman_filter_localization/rviz/ekfl_demo.rviz

ros2 launch kalman_filter_localization ekf.launch.py

ros2 topic pub ekf_localization/initial_pose geometry_msgs/PoseStamped '{header: {stamp: {sec: 1532228824, nanosec: 55000000}, frame_id: "map"}, pose: {position: {x: 0, y: 0, z: 10}, orientation: {z: 1, w: 0}}}' --once

ros2 bag play -s rosbag_v2 test.bag

demo
blue:initial pose, red:gnss pose, green: fusion pose

references

K Feng,”A New Quaternion-Based Kalman Filter”,2017
Joan Solà,”Quaternion kinematics for the error-state Kalman filter”,2017
Daniel Choukroun et al,”A Novel Quaternion Kalman Filter”,2006
An Improved EKF - The Error State Extended Kalman Filter
Weikun Zhen, Sam Zeng, and Sebastian Scherer. “Robust Localization and Localizability Estimation with a Rotating Laser Scanner” , 2017.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	launch_ros
	ament_lint_auto
	ament_lint_common
	rclcpp
	rclcpp_components
	tf2
	tf2_geometry_msgs
	tf2_sensor_msgs
	tf2_ros
	tf2_eigen
	std_msgs
	geometry_msgs
	nav_msgs
	sensor_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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API Docs Browse Code

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