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

kalman_filter_localization repository

kalman_filter_localization_core kalman_filter_localization

ROS Distro
github

Repository Summary

Description
Checkout URI	https://github.com/rsasaki0109/kalman_filter_localization.git
VCS Type	git
VCS Version	devel
Last Updated	2026-04-30
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
kalman_filter_localization_core	0.0.0
kalman_filter_localization	0.0.0

README

Kalman Filter Localization

Kalman Filter Localization is a ROS 2 package for 3D localization with GNSS, IMU, and odometry.

Node

ekf_localization_node

Input:

/initial_pose (geometry_msgs/PoseStamped)
/gnss_pose (geometry_msgs/PoseStamped) by default
/gnss/fix (sensor_msgs/NavSatFix) when gnss_input_type: "navsatfix"
/imu (sensor_msgs/Imu)
/odom (nav_msgs/Odometry)
/tf (/base_link -> /imu_link)

Output:

/current_pose (geometry_msgs/PoseStamped)

Params

Name	Type	Default value	Description
`pub_period`	int	10	Publish period `[ms]`
`var_gnss_xy`	double	0.1	GNSS position variance in XY `[m^2]`
`var_gnss_z`	double	0.15	GNSS position variance in Z `[m^2]`
`gnss_input_type`	string	`pose`	GNSS input type: `pose` or `navsatfix`
`gnss_pose_topic`	string	`gnss_pose`	`PoseStamped` GNSS input topic
`gnss_navsatfix_topic`	string	`/gnss/fix`	`NavSatFix` GNSS input topic when `gnss_input_type: "navsatfix"`
`gnss_navsatfix_use_first_fix_as_origin`	bool	true	Use the first valid `NavSatFix` as the local ENU origin
`var_odom_xyz`	double	0.1	Odometry variance `[m^2]`
`var_imu_w`	double	0.01	Angular velocity variance `[(deg/sec)^2]`
`var_imu_acc`	double	0.01	Accelerometer variance `[(m/sec^2)^2]`
`use_gnss`	bool	true	Whether GNSS is used
`use_odom`	bool	false	Whether odometry is used

NavSatFix input

If your RTK receiver publishes sensor_msgs/NavSatFix, set:

gnss_input_type: "navsatfix"
gnss_navsatfix_topic: "/gnss/fix"

The node converts WGS84 latitude/longitude/altitude to local ENU PoseStamped internally and fuses it with the same GNSS variance parameters. By default, the first valid fix becomes the ENU origin, so /initial_pose should use the same local frame. To use a fixed origin, set gnss_navsatfix_use_first_fix_as_origin: false and provide gnss_navsatfix_origin_latitude, gnss_navsatfix_origin_longitude, and gnss_navsatfix_origin_altitude.

References

K Feng, “A New Quaternion-Based Kalman Filter”, 2017
Joan Sola, “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

CONTRIBUTING

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.

Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that [license](https://opensource.org/licenses/BSD-3-Clause).

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