note: Package for ROS 2 - C++/Python (CMake) based package The fred2_navigation package in ROS 2 is designed to provide essential tools for robot navigation. It includes the robot_localization node, which utilizes an Extended Kalman Filter (EKF) to fuse odometry data and sensor measurements for accurate localization.
Clone the repository into your ROS2 workspace:
cd ros2_ws/src
git clone https://github.com/AMRFrederico/fred2_navigation.git
Install Robot Localization package:
sudo apt install ros-humble-robot-localization
Build the package:
cd ros2_ws
colcon build
To launch the robot_localization node, use the following command:
ros2 launch fred2_navigation localization.launch.py
The fred2_navigation package includes the robot_localization node, which is responsible for sensor fusion and localization using an Extended Kalman Filter (EKF).
The ekf_filter_node node is configured using the ekf_odom.yaml file found in the config directory of the fred2_navigation package.