本文介绍了rf2o_laser_odometry，一个专用于激光里程计的节点，以及robot_localization包中的核心组件，如ekf_localization_node和ukf_localization_node，它们在机器人定位中的关键作用。还涵盖了navsat_transform_node的参数配置和整体架构。通过实例参数配置，展示了如何在实际应用中整合这些模块进行精准的机器人定位和状态估计。
rf2o_laser_odometry
代码地址 ：`https://github.com/MAPIRlab/mapir-ros-pkgs`
rf2o_laser_odometry相当于激光里程计
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robot_localization
代码地址：https://github.com/cra-ros-pkg/robot_localization
参考使用：https://www.freesion.com/article/51831322254/#_1
robot_localization是状态估计节点的集合
在robot_localization包中包含了两个状态估计节点
（1）ekf_localization_node 是一个扩展卡尔曼估计器，它使用一个三维测量模型随着时间生成状态，同时利用感知数据校正已经监测过的估计。
ekf_se_map:
frequency: 20
sensor_timeout: 1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: false
debug: false
use_control: false
map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: map
odom0: /car/navsat_transform_map/odom
odom0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom0_queue_size: 1
odom0_nodelay: true
odom0_differential: false
odom0_relative: false
odom0_remove_gravitational_acceleration: true
imu0: /car/imu
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, false, false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 1
imu0_remove_gravitational_acceleration: true
process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]
initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0]
ekf_se_odom:
frequency: 20
sensor_timeout: 0.1
two_d_mode: true #平面设置为true
transform_time_offset: 0.0 #生成时间戳要用
transform_timeout: 0.0
print_diagnostics: false #如果为True则向/diagnostics话题发布数据,用于调试程序
debug: false
use_control: false #会监听/cmd_vel的geometry_msgs/Twist信息
map_frame: map
odom_frame: car/odom
base_link_frame: car/base_link
world_frame: car/odom
imu0: /car/imu
imu0_config: [false, false, false,
false, false, true,
false, false, false,
false, false, true,
false, false, false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 1
imu0_remove_gravitational_acceleration: true
process_noise_covariance: [1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]
initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0]
（2） ukf_localization_node 是一个无迹卡尔曼滤波估计器，它使用一系列sigma点通过非线性变换生成状态，并使用这些估计过的sigma点覆盖状态估计点和协方差，这个估计使用雅克比矩阵并使得估计器更加稳定。然而缺点是比ekf_localization_node耗费更大的计算量。
（3）navsat_transform_node节点
navsat_transform:
frequency: 20
#计算从GPS坐标到机器人世界坐标的转换之前等待的时间（秒）。
delay: 0.0
#此参数指如果尚不可用坐标转换，需要等待的时间，默认为0，不等待
#The value 0 means we just get us the latest available (see tf2 implementation) transform,
transform_timeout: 1.0
#如果您的IMU未考虑磁偏角，请在此处输入您所在位置的值。如果你不知道，
#此参数是必需的。
#看http://www.ngdc.noaa.gov/geomag-web/（请确保将该值转换为弧度）。
# For lat/long 55.944831, -3.186998
magnetic_declination_radians: 0
#IMU的偏航，一旦magentic_declination_radians值被添加到它
#当面向东方时，应该报告0。如果是
#如果没有，请在此处输入偏移量。默认值为0。
yaw_offset: 0
#如果这是真的，则输出里程计信息中的高度设置为0。默认为false。
zero_altitude: true
#如果这是真的，将广播变换world_frame->utm变换以供其他节点使用。
#默认为false。
broadcast_utm_transform: false
#如果这是真的，将发布utm->world_frame变换，而不是world_frame->utm变换。
#请注意，仍然必须启用广播utm转换。默认为false。
broadcast_utm_transform_as_parent_frame: false
#如果为true，navsat_transform_节点也会将机器人的世界坐标系（如地图）
#位置转换回GPS坐标，
#并在/GPS/filtered主题上发布sensor_msgs/NavSatFix消息。
publish_filtered_gps: true
use_odometry_yaw: false
wait_for_datum: true # 设置为false，下方datum不需要定义，每次加载出来的小车起点都在地图的起点处！为true时，datum的经纬读就是地图的起点，小车的位置要和datum的经纬度比较。
#datum: [34.8063928, 113.4973400, 0.0] #定义起点处经纬度
#datum: [31.75669642, 117.18576584, 0.0]
datum: [31.756573,117.18815044,0.0]
/*-----------------------------------------------------------------------------------------------/
在官方文件中 params/dual_ekf_navsat_example.yaml包含了navsat_transform和ekf_se_odom 直接加载即可
<rosparam command="load" file="$(find robot_localization)/params/dual_ekf_navsat_example.yaml" />
整体架构
节点的关系
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