ROS Index
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble |  |
| jazzy |  |
| kilted |  |
| lyrical |  |
| rolling |  |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
Package Summary
| Version | 0.5.0 |
| 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 | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange
Package Summary
| Version | 0.5.0 |
| 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 | kilted |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange
Package Summary
| Version | 0.5.0 |
| 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 | lyrical |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged easynav_costmap_localizer at Robotics Stack Exchange
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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_costmap_localizer at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Version | 0.5.0 |
| 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 | humble |
| Last Updated | 2026-10-09 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Easy Navigation: Costmap Localizer package.
Maintainers
- Francisco Martín Rico
Authors
No additional authors.
easynav_costmap_localizer
Description
AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Authors and Maintainers
- Authors: Intelligent Robotics Lab
- Maintainers: Francisco Martín Rico fmrico@gmail.com
Supported ROS 2 Distributions
| Distribution | Status |
|---|---|
| humble | |
| jazzy | |
| kilted | |
| lyrical | |
| rolling | |
Plugin (pluginlib)
-
Plugin Name:
easynav_costmap_localizer/AMCLLocalizer -
Type:
easynav::AMCLLocalizer -
Base Class:
easynav::LocalizerMethodBase -
Library:
easynav_costmap_localizer - Description: AMCL-style localizer using a 2D Costmap2D for scoring and odometry/IMU for prediction.
Parameters
All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_costmap_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>.min_height |
double |
0.1 |
Points lower than this (m, base_footprint frame) are the floor and do not correct the particles. Lower it for sensors mounted lower (e.g. a laser 0.095 m high). |
<plugin>.compute_odom_from_tf |
bool |
false |
If true, read odometry from TF (odom->base_footprint) instead of /odom topic. |
Interfaces (Topics and Services)
Subscriptions and Publications
| Direction | Topic | Type | Purpose | QoS |
|---|---|---|---|---|
| Subscription | odom |
nav_msgs/msg/Odometry |
Read odometry when compute_odom_from_tf=false. | SensorDataQoS (reliable) |
| Subscription | initialpose |
geometry_msgs/msg/PoseWithCovarianceStamped |
Init particles pose to the received pose, using covariance | depth=10 |
| 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 |
Estimated pose with covariance. | depth=10 |
Services
This package does not create service servers or clients.
NavState Keys
| Key | Type | Access | Notes |
|---|---|---|---|
points |
PointPerceptions |
Read | Perception point clouds used in correction. |
map.base |
Costmap2D |
Read | Base costmap for likelihood evaluation. |
TF Frames
| Role | Transform | Notes |
|---|---|---|
| Publishes | map -> odom |
Aligns the odometry frame with the map frame. |
| Requires (optional) | odom -> base_footprint |
Required when compute_odom_from_tf=true (read from TF). |
License
Apache-2.0
CHANGELOG
Changelog for package easynav_costmap_localizer
0.5.0 (2026-10-08)
- Runtime reconfiguration
- AMCL convergence evaluator and relocalization mitigation for the diagnostic recovery manager
- Configurable min_height (was a fixed 0.1 m)
- num_particles initialized before use
- Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno
0.4.2 (2026-07-26)
- Complete deps
- Avoid creating objects every loop cycle
- Fix std::normal_distribution when stdev is zero
- Check if std is non-positive before creating std::normal_distribution
- Check if std is non-positive before creating std::normal_distribution
- Change map static to base
- Adaptations to #94
- Update plugins to new sensors API
- GPLv3 -> Apache 2.0
- Improve navstate print including the time
- Add a base_footprint frame in TFInfo
- Remove C++20/C++23 features and update to new MethodBase interface
- Correct publication stamp to input stamp
- Merge branch 'set_robot_frame' into frames-fix-pr-40
- TFInfo in RTTFBuffer Optimize execution
- Optimize random genearator
- Optimize execution
- Cleanup unused headers
- Adaptation to EasyNavigation#71
- Init pose for RViz2 compliant
- Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Juan S. Cely G., Miguel, migueldm
0.0.2 (2025-10-12)
- Reorganization initial
- Contributors: Francisco Martín Rico
Package Dependencies
System Dependencies
| Name |
|---|
| eigen |
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.