husarion_ugv_localization

robot localization configuration for Husarion UGV

README

husarion_ugv_localization

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

Launch files

This package contains:

  • localization.launch.py: Responsible for activating EKF filtration along with the necessary dependencies needed to operate GPS.

  • nmea_navsat.launch.py: Responsible for launching the NMEA NavSat driver node.

Configuration Files

  • enu_localization.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders and IMU. Orientation follows East-North-Up (ENU) coordinates.

  • enu_localization_with_gps.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU, and GPS. Orientation follows East-North-Up (ENU) coordinates.

  • nmea_navsat.yaml: contains parameters for NMEA NavSat driver node.

  • relative_localization.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU. The initial orientation is always 0 in relative mode.

  • relative_localization_with_gps.yaml: configures data fusion for ekf_filter and navsat_transform nodes, using wheel encoders, IMU, and GPS. The initial orientation is always 0 in relative mode.