├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── .gitignore ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc ├── .templates │ └── full_globaltoc.html ├── CHANGELOG.rst ├── Makefile ├── conf.py ├── configuring_robot_localization.rst ├── images │ ├── figure2.png │ ├── navsat_transform_workflow.png │ ├── navsat_transform_workflow.tex │ └── rl_small.png ├── index.rst ├── integrating_gps.rst ├── manifest.yaml ├── migrating_from_robot_pose_ekf.rst ├── navsat_transform_node.rst ├── preparing_sensor_data.rst ├── robot_localization_ias13_revised.pdf └── state_estimation_nodes.rst ├── include └── robot_localization │ ├── ekf.hpp │ ├── filter_base.hpp │ ├── filter_common.hpp │ ├── filter_state.hpp │ ├── filter_utilities.hpp │ ├── measurement.hpp │ ├── navsat_transform.hpp │ ├── robot_localization_estimator.hpp │ ├── ros_filter.hpp │ ├── ros_filter_types.hpp │ ├── ros_filter_utilities.hpp │ ├── ros_robot_localization_listener.hpp │ └── ukf.hpp ├── launch ├── dual_ekf_navsat_example.launch.py ├── ekf.launch.py ├── navsat_transform.launch.py └── ukf.launch.py ├── package.xml ├── params ├── dual_ekf_navsat_example.yaml ├── ekf.yaml ├── navsat_transform.yaml └── ukf.yaml ├── rosdoc.yaml ├── src ├── ekf.cpp ├── ekf_node.cpp ├── filter_base.cpp ├── filter_utilities.cpp ├── navsat_conversions.hpp ├── navsat_transform.cpp ├── navsat_transform_node.cpp ├── robot_localization_estimator.cpp ├── robot_localization_listener_node.cpp ├── ros_filter.cpp ├── ros_filter_utilities.cpp ├── ros_robot_localization_listener.cpp ├── ukf.cpp └── ukf_node.cpp ├── srv ├── FromLL.srv ├── FromLLArray.srv ├── GetState.srv ├── SetDatum.srv ├── SetPose.srv ├── SetUTMZone.srv ├── ToLL.srv └── ToggleFilterProcessing.srv └── test ├── test1.bag ├── test2.bag ├── test3.bag ├── test_ekf.cpp ├── test_ekf_localization_node_bag1.launch.py ├── test_ekf_localization_node_bag1.sh ├── test_ekf_localization_node_bag1.yaml ├── test_ekf_localization_node_bag2.launch.py ├── test_ekf_localization_node_bag2.sh ├── test_ekf_localization_node_bag2.yaml ├── test_ekf_localization_node_bag3.launch.py ├── test_ekf_localization_node_bag3.sh ├── test_ekf_localization_node_bag3.yaml ├── test_filter_base.cpp ├── test_filter_base_diagnostics_timestamps.cpp ├── test_filter_base_diagnostics_timestamps.launch.py ├── test_filter_base_diagnostics_timestamps.yaml ├── test_localization_node_bag_pose_tester.cpp ├── test_navsat_conversions.cpp ├── test_robot_localization_estimator.cpp ├── test_robot_localization_estimator.launch.py ├── test_ros_robot_localization_listener.cpp ├── test_ros_robot_localization_listener.launch.py ├── test_ros_robot_localization_listener.yaml ├── test_ros_robot_localization_listener_publisher.cpp ├── test_se_node_interfaces.cpp ├── test_se_node_interfaces.launch.py ├── test_se_node_interfaces.yaml ├── test_ukf.cpp ├── test_ukf_localization_node_bag1.launch.py ├── test_ukf_localization_node_bag1.sh ├── 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