cra-ros-pkg/robot_localization

Health v2 · maintenance only

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1947 stars · 1033 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

robot_localization is a ROS package of nonlinear state estimation nodes (EKF, UKF, and navsat_transform) for fusing IMU, odometry, and other sensor data into a robot's pose estimate. It was developed by Charles River Analytics and is widely used in ROS/ROS 2 navigation stacks.

Use cases

• fuse imu and wheel odometry into a robot pose estimate
• estimate robot localization with an extended kalman filter
• transform gps data into the robot's odometry frame
• get a smooth tf transform for ros navigation
• dead reckoning for a mobile robot
• sensor fusion for autonomous robot navigation

When to choose

• you are building a ROS or ROS 2 mobile robot and need robust state estimation from multiple sensors
• you need to fuse IMU, odometry, and GPS data into a continuous pose estimate
• you want a battle-tested, community-standard localization package for the ROS navigation stack

When to avoid

• you are not using ROS or ROS 2
• you need SLAM or map-based localization rather than odometry-based state estimation
• you need a standalone estimator outside the ROS ecosystem

Facets

library · maturity stable

machine-learning simulation robotics autonomous-vehicles cpp ros state-estimation sensor-fusion kalman-filter ekf ukf nav2 odometry linux

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markdown · JSON · MCP: product_card(name="cra-ros-pkg/robot_localization")