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localization_msgs_tools

  • Software
  • Navigation and mapping
  • Tool

ROS 2 nodes that convert localization messages: one forwards pose messages to the tf tree, the other adds or replaces covariance in localization messages.

Source on GitHub: github.com/oKermorgant/localization_msgs_tools (opens in a new tab). Facts read at commit 73ffbb9 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit 73ffbb9 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Pose_to_tf subscribes to a pose topic and publishes it on /tf, useful to simulate perfect localization from a ground truth topic.
  • Pose_to_tf accepts Pose, PoseStamped, Transform, TransformStamped, Odometry and Imu messages, with optional inverse publishing.
  • Pose_to_tf frame parameters fill in frames missing from incoming messages and override frames from them when set.
  • With_covariance adds or replaces covariance in pose, twist, IMU, NavSatFix and odometry messages, which helps with simulated or covariance-free data.
  • With_covariance takes several inputs, each with its own input and output topics and covariance vectors, configured like robot_localization nodes.
  • Covariance parameters of with_covariance can be changed at runtime with ros2 param set.

Written by Robotheca from the project's README (opens in a new tab) at commit 73ffbb9.

Getting started

Difficulty
Intermediate

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
22 Sept 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.