clearpath_husky: husky_bringup | husky_kinect | husky_localization | husky_teleop
Package Summary
The husky_localization package contains method for providing your Clearpath Robotics Husky with localization given a few possible sensor arrangements.
- Author: Mike Purvis
- License: BSD
- Repository: clearpath-ros-pkg
- Source: svn http://clearpath-ros-pkg.googlecode.com/svn/trunk/clearpath_husky/husky_localization
Nodes
husky_localization
husky_localization is a ROS node that reads data from the Husky encoders and a GPS in order to provide a localization estimate via a basic EKF.
Subscribed Topics
data/encoders (clearpath_base/Encoders)- Accepts encoder messages to predict motion.
- Accepts GPS messages to add a measurement to the EKF.
Published Topics
pose (geometry_msgs/Pose2D)- Provides a 2D localization message
Parameters
~wheel_separation (double, default: 0.5)- Distance between left and right wheels, in meters.