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The package robot_localization is just a kalman filter that fuses odometry data to provide a filtered estimate of the fusion of sensors. The package can currently accept messages of type:
from a plethora of sources. Where those sources come from is up to you. The package does have support for 3D localization and 2D localisation with two_d_mode
set to true. Please see the documentation as to how to use this. Specifically referring to your picture,
Based on the sources you supply to the state estimation nodes, it will provide a 3D (or 2D) estimate of your position. This package is often used in collaboration with gmapping for Simaltaneous Localisation And Mapping (SLAM).
Thanks, Grant.