easynav_fusion_localizer

Description

Odometry fusion localizer based on Robot Localization that fuses any n odometry sources.

Authors and Maintainers

• Authors: Intelligent Robotics Lab
• Maintainers: Miguel Ángel de Miguel midemig@gmail.com

Supported ROS 2 Distributions

Distribution	Status
humble
jazzy
kilted
lyrical
rolling

Plugin (pluginlib)

• Plugin Name: easynav_fusion_localizer/FusionLocalizer
• Type: easynav::FusionLocalizer
• Base Class: easynav::LocalizerMethodBase
• Library: fusion_localizer
• Description: Odometry fusion localizer based on Robot Localization that fuses any n odometry sources.

Parameters

All parameters are declared under the plugin namespace, i.e., /<node_fqn>/easynav_fusion_localizer/FusionLocalizer/....

For additional robot_localization-related configuration, see the upstream documentation: https://docs.ros.org/en/melodic/api/robot_localization/html/configuring_robot_localization.html

Interfaces (Topics and Services)

Subscriptions and Publications

| Direction | Topic | Type | Purpose | QoS | |—|—|—|—|—| | Subscription | initialpose | geometry_msgs/msg/PoseWithCovarianceStamped | Seed/reset the filter pose from an external initial pose estimate. | depth=10 | | Publisher | odometry/filtered | nav_msgs/msg/Odometry | Odometry fused from all sources. | SensorDataQoS |

Services

This package does not create service servers or clients.

NavState Keys

| Key | Type | Access | Notes | |—|—|—|—| | robot_pose | nav_msgs::msg::Odometry | Write | Fused odometry estimate. |

TF Frames

| Role | Transform | Notes | |—|—|—| | Publishes | map -> odom | Transform that aligns the odometry frame with the global frame. |

License

Apache-2.0

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package easynav_fusion_localizer \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.5.0 (2026-10-08)

• Runtime reconfiguration
• Fixed NaN in the local filter and a node leak
• Builds on Humble, Jazzy, Kilted, Lyrical and Rolling
• Contributors: Francisco Martín Rico, Miguel Ángel de Miguel Paraíso

0.4.2 (2026-07-26)

• Complete deps
• deleted tests related to initial pose param which was removed. Removed spaces
• fix: add gnss group to gps config and ge_group has group to meet new easynav features. Initial pose now changes initial utm pose to change robot position in the map
• Adaptations to #94
• Added config file for gazebo smulation demo
• Uncrustify changes
• Only starts filter if params are found
• params updated
• Added simple configuration to launch full demo
• Initialization considers IMU orientation
• Call set pose srvc for first pose for fastest convergence. Updated params to stabilice the filter in summit
• GPLv3 -> Apache 2.0
• fixed odom topic
• Several bugs fixed. Now it correctly integrates GPS measurements to the dual filter.
• Added dual ukf for local and global localization
• Add a base_footprint frame in TFInfo
• Remove C++20/C++23 features and update to new MethodBase interface
• Merge branch 'set_robot_frame' into frames-fix-pr-40
• TFInfo in RTTFBuffer
• Fixed frames. In robot_localization, world frame must be odom or map depending on filter mode: local or global. This first version works as only global filter, so I changed world frame to map
• Refactor to use TFInfo
• fixed subscribers cb group, not in rt
• added pkg to workflow and ament_uncrustify code
• First working version
• Contributors: Francisco Martín Rico, Francisco Miguel Moreno, Juan S. Cely, Miguel, midemig, migueldm

0.0.2 (2025-11-23)

• First version
• Contributors: Miguel Ángel de Miguel