mf_localization

mf_localization package (ROS2)

Provide multi-floor localization function.

configuration_files

configuration files for cartographer

src/multi_floor_manager.py

multi_floor_manager launches multiple cartographer nodes for each floor or area in map configuration and reroutes topics into a selected cartographer to control multi-floor/area localization. To select a specific cartographer (floor/area), use radio frequency signals or other sensors.

publish

• current_floor: current floor
• current_floor_raw: current floor estimation before rounding
• current_frame: current floor/area's frame id
• current_map_files: current floor/area's map file name
• resetpose:
• global_position:
• scan_matched_points:

subscribe

• imu: input for cartographer
• points2: input for cartographer
• beacons: to estimate floor/area
• initialpose: to set initial pose
• odom: input for cartographer
• pressure: to check if robot is move vertically
• gnss_fix: input for cartographer
• gnss_fix_velocity: to estimate moving direction

TF

• map_global: the global TF origin
  • -> map_carto_XX: each cartographer map origin
• map_carto_XX -> map: for ROS2, map refers current_frame

src/multi_floor_map_server.py

multi_floor_map_server launches multiple map server nodes for each floor or area in map configuration and reroute map topic from the map server of the current_frame

publish

• map: map corresponds to the current_frame

subscribe

• current_frame: