Add config for localization

Author: wflyerthariani

src/localization_dev/config/navsat.yaml

@@ -0,0 +1,14 @@
+navsat_transform:
+  ros__parameters:
+    frequency: 10.0
+    delay: 0.0
+
+    magnetic_declination_radians: 0.0
+    yaw_offset: 0.0
+    zero_altitude: true
+
+    broadcast_utm_transform: false
+    publish_filtered_gps: true
+
+    use_odometry_yaw: false   # use IMU yaw
+    wait_for_datum: false

src/localization_dev/config/ukf_global.yaml

@@ -0,0 +1,23 @@
+ukf_global:
+  ros__parameters:
+    frequency: 30.0
+    sensor_timeout: 0.2
+    two_d_mode: true
+
+    map_frame: map
+    odom_frame: odom
+    base_link_frame: base_link
+    world_frame: map
+
+    publish_tf: true
+
+    odom0: /odometry/gps
+    odom0_config: [
+      true,  true,  false,
+      false, false, false,
+      false, false, false,
+      false, false, false,
+      false, false, false
+    ]
+
+    imu0: /imu/data

src/localization_dev/config/ukf_local.yaml

@@ -0,0 +1,24 @@
+ukf_local:
+  ros__parameters:
+    frequency: 50.0
+    sensor_timeout: 0.1
+    two_d_mode: true
+
+    map_frame: map
+    odom_frame: odom
+    base_link_frame: base_link
+    world_frame: odom
+
+    publish_tf: true
+    publish_acceleration: false
+
+    imu0: /imu/data
+    imu0_config: [
+      false, false, false,   # position
+      true,  true,  true,    # orientation (Mahony)
+      false, false, false,   # velocity
+      true,  true,  true,    # angular velocity
+      true,  true,  true     # linear acceleration
+    ]
+
+    imu0_remove_gravitational_acceleration: false

src/localization_dev/launch/localization.launch.py

@@ -0,0 +1,48 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import PathJoinSubstitution
+
+def generate_launch_description():
+    ukf_local_yaml = PathJoinSubstitution([
+        FindPackageShare('localization_dev'),
+        'config',
+        'ukf_local.yaml'
+    ])
+    ukf_global_yaml = PathJoinSubstitution([
+        FindPackageShare('localization_dev'),
+        'config',
+        'ukf_global.yaml'
+    ])
+    navsat_yaml = PathJoinSubstitution([
+        FindPackageShare('localization_dev'),
+        'config',
+        'navsat.yaml'
+    ])
+    return LaunchDescription([
+
+        Node(
+            package='robot_localization',
+            executable='ukf_node',
+            name='ukf_local',
+            output='screen',
+            parameters=[ukf_local_yaml],
+            remappings=[('odometry/filtered', 'odometry/filtered')]
+        ),
+
+        Node(
+            package='robot_localization',
+            executable='navsat_transform_node',
+            name='navsat_transform',
+            output='screen',
+            parameters=[navsat_yaml]
+        ),
+
+        Node(
+            package='robot_localization',
+            executable='ukf_node',
+            name='ukf_global',
+            output='screen',
+            parameters=[ukf_global_yaml]
+        ),
+    ])

src/localization_dev/setup.py

@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'localization_dev'
 
@@ -10,6 +12,10 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'),
+         glob('launch/*.py')),
+        (os.path.join('share', package_name, 'config'),
+         glob('config/*.yaml')),
     ],
     install_requires=['setuptools', 'numpy'],
     zip_safe=True,