Version: ROS 2 Jazzy

Enable/Disable EKF

By default, all Clearpath platforms launch an EKF node as part of its localization stack. Some applications may want to use their own localization node, in which case the default EKF node can be disabled.

Key	Value / Datatype	Description
enable_ekf	boolean	Enables or disables the default EKF node. Default: `true`

For example, to disable the EKF node:

platform:
  enable_ekf: false

Adding Sensors to the EKF

By default, the EKF node (ekf_node) automatically fuses the platform's wheel odometry with any IMU or GPS-with-IMU sensor defined under sensors. Rather than disabling this, additional sources can be added, such as an extra odometry or pose topic, use the extras.ros_parameters field in robot.yaml to pass in robot_localization parameters directly to the ekf_node.

caution

Setting extras.ros_parameters.ekf_node completely replaces the automatically generated fusion parameters, it does not merge with them. If you add your own ekf_node entry, you must also re-declare the odom0/imu0/pose0 inputs for any Clearpath-managed sensors you still want fused.

For example, to additionally fuse an external pose source published on external_pose/data:

platform:
  extras:
    ros_parameters:
      ekf_node:
        odom0: platform/odom
        odom0_config: [true,  true,  false,
                        false, false, true,
                        true,  true,  false,
                        false, false, true,
                        false, false, false]
        odom0_differential: false
        odom0_queue_size: 10
        imu0: sensors/imu_0/data
        imu0_config: [false, false, false,
                        false, false, false,
                        false, false, false,
                        true,  true,  true,
                        true,  false, false]
        imu0_differential: false
        imu0_queue_size: 10
        imu0_remove_gravitational_acceleration: true
        pose0: external_pose/data
        pose0_config: [true,  true,  true,
                        true,  true,  true,
                        false, false, false,
                        false, false, false,
                        false, false, false]
        pose0_differential: false
        pose0_queue_size: 10

Adding Sensors to the EKF​

Adding Sensors to the EKF