Please Lets have a look at thesrc/sensors/positioning_system.cppsource code. REP 103 specifies the preferred orientation as X east, Y north and Z up, but in known structured environments aligning the X and Y axes with the environment is more useful (which is also acknowledged in REP103). ROS Mapping and Localization ROS Navigation ROS Global Planner Sensing Tracking vehicles using a static traffic camera Adafruit GPS AprilTags Stag Camera Calibration Computer Vision Consideration Delphi ESR Radar Point Cloud Library, 3D Sensors and Applications Photometric Calibration Speech Recognition Stereo Vision in OpenCV The position sensor does nothing more than listening to theturtlesim/Pose messages on theturtle1/posetopic, caching the messages it receives and sendinggeometry_msgs/PoseWithCovarianceStampedmessages (with the received position plus a systematic and random error) on theturtle1/sensors/posetopic. Start the AMCL estimator, passing the laser scans topic as paramter: Of course, you will need a system with ROS (the tutorial is developed and tested with ROS (1) Melodic Morenia on Ubuntu 18.04 Bionic Beaver) and a keyboard to control our turtlesim robot, but thats it. To understand how robot_localization works, we should first have a look at REP 103 Standard Units of Measure and Coordinate Conventionsand REP 105 Coordinate Frames for Mobile Platforms which describe the coordinate system conventions used in ROS in general and for mobile robots in particular. As discussed earlier, we need two state estimator nodes: one for theodom base_linktransform and one for themap odomtransform. Default value is 5. $ roslaunch turtlebot_gazebo turtlebot_world.launch Next, open up a second CCS. Name Are you using ROS 2 (Dashing/Foxy/Rolling)? We start by creating two virtual sensors for our turtlebot: an odometer, measuring the linear and angular velocity of the turtlebot and a position sensor, measuring the absolute position and orientation of the turtlebot. It takes 3 different integer values: 1 - localization in one dimensional (1D) 2 - localization in two dimensional (2D) 3 - localization in three dimensional (3D) 2. sig_c: Standard deviation of TDOA measurements. It may require a bit of patience for Gazebo to start. The tree, especially the construction with themapandodomframes, may look counterintuitive at first. 7. period_nsec: Refreshing value of KPI parameters in nano-seconds. to use Codespaces. The first turtle, drawing a thick gray line, is our real turtlesim robot (the turtles shape is chosen randomly on creation, so it will vary from run to run). Theodomframe is a (more or less) world-fixed frame. In addition, they can publish (enabled by default) the corresponding transformation as a tf2 transform, either theodom base_linktransform or themap odomtransform (in this mode, they assume another node (possibly another robot_localization state estimator node) publishes theodom base_linktransform). In your AnchorScan data publisher code, you should publish the ROS time. ROS Developers LIVE-Class #49: How to Map & Localize a Robot (ROS) - YouTube 0:00 / 1:16:01 ROS Developers OPEN Class ROS Developers LIVE-Class #49: How to Map & Localize a Robot (ROS). Open a new terminal and run the following commands: After, launch the indoor_localization package. 6. period_sec: Refreshing value of KPI parameters in seconds. com The Construct, the company behind this Live Class: http://www.theconstruct.ai Robotnik, the company that created Summit XL robot (and others): http://www.robotnik.es #robot #rosmapping # roslocalization (e.g., if the starting position of tag selected as [10, 15, 1.1], this parameter must be set as 15. Go to http://rosds.online and create an account prior to the class. Let's get started! In region_params.yaml, region names and their coordinates must be set. We calculate the angular velocity as the product of the linear velocity and the angular velocity error. If the distance between positions is less than the threshold value, it means the tag does not move or vice versa. Mapping Tutorial In this tutorial you will be guided to map the TurtleBot_world using gmapping. Install the Robot Localization Package Let's begin by installing the robot_localization package. However, it is very complex to learn. For example, you have two regions and they are "hallway" - rectangle and "warehouse" - pentagon: After making sure that all parameters are set optimally, in this section you will learn how to publish TDOA values through the AnchorScan message. Thebase_linkframe can be attached in any arbitrary position or orientation, but REP 103 specifies the preferred orientation of the frame as X forward, Y left and Z up. In your AnchorScan data publlisher code, you should publish the coordinates of anchors respectively with anchor IDs. Restart the simulation with the map server enabled. You should find the template code of the driver in here. We have one velocity sensortwist0(all sensor topic names should start at 0 for the first sensor of a given type). The systematic error is unspecified and defaults to zero. Lets start with the first one. This parameter must be in a list (e.g., [16, 8, 0.5]). The goal is to use dual ekf with navsat transform node in order to use GPS position. I didnt show you all options of the robot_localization state estimator nodes and I didnt show how to use the navsat_transform_node to integrate GPS data but you should have the background knowledge to read the robot_localization package documentation and know how it applies to your sensors. L1: If localization mode selected as 1D, this parameter indicates the starting point of line where tag moves. (If the tag is moving in 2D environment, change this value rationally.). This is a LIVE Class on how to develop with ROS. Youll find the full source code in theros-ws/src/robot_localizationdirectory. It updates its estimate at 10 Hz, we ask it to run in 2D mode, we explicitly ask to publish the tf2 transform too (although that is the default behavior), we specify themap,odomandbase_linkframes and by specifying theodomframe as theworld_frame, we ask to estimate theodom base_linktransform. You can play with the systematic and random errors of both sensors (have a look at the source code or launch the nodes with thehelpoption to see which command line parameters they support) and with the covariance they report. You can get the entire code for this project here. The/turtle1/posesubscribers callback just caches the received pose. AboutPressCopyrightContact. Please read the instructions in the code carefully! The ROS1 Nav Stack tutorial quickly demonstrates how our spatial intelligence algorithms can be effectively integrated with the de facto standard software framework for robotics. The Ros Robot_localization package Published on: January 24, 2019 A no-hardware-required hands-on tutorial The robot_localization package is a collection of non-linear state estimators for robots moving in 3D (or 2D) space. In AnchorScan.msg file, copy these lines into it: After that create a src file in your package: Go into the src file and create an empty document named as "hardware_ros_driver.py". As of writing, they support nav_msgs/Odometry (position, orientation and linear and angular velocity), geometry_msgs/PoseWithCovarianceStamped (position and orientation), geometry_msgs/TwistWithCovarianceStamped (linear and angular velocity) and sensor_msgs/Imu (orientation, angular velocity and linear acceleration) messages. It has a random error of 0.05 units/s (standard deviation) on the linear velocity and a systematic error of 0.02 times the linear velocity on the angular velocity (positive = counterclockwise). Use Git or checkout with SVN using the web URL. Edit indoor_localization Package Considering Hardware ROS Package. It takes 3 different integer values: 3 - localization in three dimensional (3D). // RELATED LINKS ROS Development Studio, to develop and test ROS programs on the cloud: http://rosds.online Robot Ignite Academy, to learn everything about ROS in a useful manner guided: http: //www.robotigniteacademy. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map.-------------------Time Stamp ---------------------0:00 Introduction0:17 Topics Covered0:50 Understanding amcl.launch3:01 Implementation4:55 Moving the robot and understanding Particle Filter6:45 Loading the gmapped map. For now I am only trying to use a simple ekf fusion of wheel odometry and IMU. But the most important thing in here is, the coordinate values of polygons must be entered in the parameter such that the corners of the polygon follow one another. If nothing happens, download GitHub Desktop and try again. REP 105 defines the tf2 coordinate frame tree for mobile robots: At the lowest level in this graph, thebase_linkis rigidly attached to the mobile robots base. x, y and z values holds the sensors' positions respectively with sensor IDs. First let's talk about the AnchorScan message: AnchorScan.msg is a message type which holds the fixed anchors' (UWB sensors) informations and Time Difference of Arrival (TDOA) values. . The ROS 101: ROS Navigation Basics tutorial will show you how to: Install ROS simulation, desktop and navigation packages Launch a robot simulation in Gazebo Build a map of a simulated world using gmapping Visualize costmaps in Rviz Localize a robot using the AMCL localization package The pose of the mobile robot in themapframe should not drift over time, but can change in discrete jumps. If nothing happens, download Xcode and try again. Configuring robot_localization robot_localization 2.3.4 documentation Configuring robot_localization When incorporating sensor data into the position estimate of any of robot_localization 's state estimation nodes, it is important to extract as much information as possible. We configure robot_localization via the launch file. This allows us to simulate a sensor with a systematic deviation from the straight line. However, it lacks a hands-on tutorial to help you with your first steps. The robot_localization package is a collection of non-linear state estimators for robots moving in 3D (or 2D) space. The last turtle, drawing a thick green line, is robot_locations estimate of the pose of the turtle in themapframe. Using ROS localization The ROS navigation stacks provide a Monte-Carlo based module for localisation estimation called amcl. Navigating the ROS Filesystem This tutorial introduces ROS filesystem concepts, and covers using the roscd, rosls, and rospack commandline tools. Theinclude/robot_localization/odometry.hppandsrc/sensors/odometry.cppsource files implement the sensor class; thesrc/sensors/odometry_node.cppstarts a node for the sensor (accepting command-line parameters to configure the sensor). But its good enough to get us up and running with the robot_localization package. L2: If localization mode selected as 1D, this parameter indicates the end point of line where tag moves. So, to estimate and publish both themap odomand theodom base_linktransforms (or state estimates), we need two robot_localization state estimators: Together, they will estimate the fullmap odom base_linktransform chain. Height of tag must be in meter. Although there are tf tutorials, the tf package heavily relies on important theoretical concepts . Header message includes the time stamp. You will need a free account to attend the class. This parameter must be in a list (e.g., [12, 8, 0.5]). After reading this tutorial, you should more or less know how robot_localization works. This python file should contain your own driver's code. 2. sig_c: Standard deviation of TDOA measurements. This tutorial details the best practices for sensor integration. 3. rate: Refreshing rate of subscribers/publishers in Hz. To install the package, please run the following commands in terminal: Before run the package, 3rd party library Shapely must be installed. We will add a virtual odometer and a virtual (LiDAR) positioning system (both with a configurable systematic and random error) to the turtlesim robot and estimate its location by using the robot_localization package. (More deteails will be given in next step.). Localization, mapping, and navigation are fundamental topics in the Robot Operating System (ROS) and mobile robots. Default value is 0.0625 in float. Theearthframe at the highest level in the graph is often not necessary, but it can be defined to link differentmapframes to allow interaction between mobile robots in differentmapframes or to allow robots to move from onemapframe to another. First, we should get the AnchorScan data to work with the localization system. To keep things really simple, we will use the turtlesim package (package summary and documentation:http://wiki.ros.org/turtlesim). First, source your preferred ROS versionsetup.bash(if you dont do it in your~/.bashrcalready): Then, go to theros-wsdirectory in the tutorial root directory and build the tutorial code: Finally, you are ready to run the demo. You can use robot_localization from Python too, but I implemented the virtual sensors in C++. I am using ROS2 Foxy. You can see that the turtlebot in the screenshot above (the one drawing a red line) has a clear deviation to the left. This tutorial tries to bridge the gap, using the turtlesim package as a virtual robot. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. In this ROS open class, you will be able to have a crude, but useful, system to position and move your robot around an outdoor terrain without a map, by usin. We will define two virtual sensors with a configurable frequency, systematic and random error: the position sensor will measure the turtles absolute position and orientation and is drawn with a thin blue line. There was a problem preparing your codespace, please try again. The launch file we copied over for running the map_server also included AMCL in . This approach provides a drift-free but non-continuous (map base_link) as well as a continuous but drifting (odom base_link) pose estimation of the mobile robot. Introduction #amcl #localization #ros Amcl | ROS Localization | SLAM 2 | How to localize a robot in ROS | ROS Tutorial for Beginners 13,132 views Feb 3, 2021 ROS Amcl In this video,. The velocity sensor will measure the turtles linear and angular velocity and is drawn with a thin red line. If we asked to visualize the measurement, move the visualization turtle to the measured location. AnchorID holds the ID's of the anchors (UWB sensors). Work fast with our official CLI. Theinclude/robot_localization/positioning_system.hppandsrc/sensors/positioning_system.cppsource files implement the position sensor class; thesrc/sensors/positioning_system_node.cppstarts a node for the sensor (accepting command-line parameters to configure the sensor). A tag already exists with the provided branch name. Themap odomtransform includes the non-continuous sensors (GPS, LiDAR based positioning system) and models the jumps in the estimated position of the mobile robot, keeping theodom base_link transform continuous. The configuration of themap odomstate estimator node is similar, but it gets input not only from the velocity sensor, but also from the position sensor (providingx,yandyawmeasurements). Learn more. have been completed for the indoor positioning system to work, let's move on how to launch the system. We look at how to get the amcl launch file, understand to launch the amcl node.ROS Amcl is a probabilistic localization system for a robot moving in 2D. To get started on your own journey to the future of visual SLAM download the SDK here and check out the tutorial here. ), 10. initial_Tz: z coordinate of starting position of tag. 11. There are some great examples on how to set up the robot_localization package, but they require good working hardware. 4. tag_z: If localization mode selected as 2D, you should set this parameter as height of tag. Are you sure you want to create this branch? IMPORTANT 2: in order to start practicing quickly, we are using the ROS Development Studio for doing the practice. OCT 9, 2020: I added the installation instruction of Turtlebot3 on ROS Noetic. Standard Units of Measure and Coordinate Conventions. Leading experts in Machine Vision, Cloud Architecture & Data Science. If the sensor is asked to visualize its measurements, it also calls thespawnAndConfigureVisualizationTurtlefunction to create a new turtle and set its line color to blue when receiving the first message. Open a new terminal window, and type the following command: sudo apt install ros-foxy-robot-localization If you are using a newer version of ROS 2 like ROS 2 Galactic, type the following: sudo apt install ros-galactic-robot-localization The ROS Wiki is for ROS 1. This pose and an appropriate covariance matrix are packed in ageometry_msgs/PoseWithCovarianceStampedmessage. In your AnchorScan data publisher code, you should publish the IDs of anchors in integer type list. Source this workspacesetup.bashand start the demo by usingroslaunch: You can control the turtle using your keyboards arrow keys. Open the CMakeLists.txt of "uwb_hardware_driver" package and copy these lines into it: Open the package.xml of "uwb_hardware_driver" package and add these lines into it: Some modifications must be done in indoor_localization package in order to work in a coordination with the written hardware driver package. Further classes will show you how to move the robot along the space using the map and the localization. Yes, please give me 8 times a year an update of Kapernikovs activities. However, the pose of the robot in theodomframe is guaranteed to be continuous, making it suitable for tasks like visual servoing. ROSject link: http://www.rosject.io/l/11d72c77/?utm_source=youtube_openclass49\u0026utm_medium=youtube_openclass49_description\u0026utm_campaign=youtube_openclass49_description_rosjectlinkIn this class, you'll learn how to create a map of the environment for your robot with ROS, and how to localize your robot on that map. Of course, our turtlebot lives in a constrained 2D world. The internals are beyond the scope of this tutorial, but if you want more information on whats happening inside the state estimator nodes, have a look at T. Finally, this message is published on the/turtle1/sensors/posetopic. Open a new terminal and run the following commands: Wiki: indoor_localization/Tutorials (last edited 2019-11-01 06:48:23 by ElcinErdogan), Except where otherwise noted, the ROS wiki is licensed under the. At last there will be a tutorial about localization. In this article series on machine learning, we discuss best practises for training your data model. The velocity sensor publishes measurements at 10 Hz. A tag already exists with the provided branch name. The documentation of the robot_localization package is quite clear once you know how it works. The spin function handles the main loop. I suppose you have some basic knowledge on ROS (if not, start with the beginner level tutorials) and tf2 (if not, read the learning tf2 tutorials) and you understand basic C++ code. GitHub - Kapernikov/ros_robot_localization_tutorial: The ROS robot_localization package: a no-hardware-required hands-on tutorial Kapernikov / ros_robot_localization_tutorial Public Notifications Fork 17 Star 20 Code Pull requests master 1 branch 0 tags Go to file Code maartendemunck Add GPLv3 license 1a1d4a2 on Dec 1, 2018 5 commits Overview. Just make sure you have the input focus on the terminal running theroslaunchcommand (and theturtlesim/turtle_teleop_keynode), not the turtlebot window itself. This makes themapframe perfect as a long-term global reference, but the discrete jumps make local sensing and acting difficult. sign in There is not that much sensor data to fuse with only one position and velocity sensor and our turtlebots infinite acceleration (it starts and stops immediately) is not a perfect fit for the motion model in the state estimator. The official instructions for doing this are on this page, but we will walk through the entire process below. While there are a variety of mapping options in ROS1 and some in ROS2, for localization it really is just Adaptive Monte Carlo Localization (AMCL). If you want to refresh the KPI parameters in 8 hours, this parameter must be 28800 seconds (8*60*60). 8. initial_Tx: x coordinate of starting position of tag. First of all, we have to start our Gazebo simulation. I am trying to make a simulation tutorial with Turtlebot3 waffle in the Turtlebot world that uses the robot_localization package. You signed in with another tab or window. It publishes a measurement every second. Themapframe is a world-fixed frame. The true and false valuesare the parameters of the 15-dimensional state(x,y,z,roll,pitch,yaw, x,y,z,roll,pitch,yaw,x,y,z). To install this library, run the following command in terminal: 1. localization_mode: Please set this parameter according to the dimension you will work with. I think either PR2 simulator tutorial is wrong or fake_localization is broken http://www.ros.org/wiki/pr2_simulator/Tutorials/TeleopBaseControllerPR2InSimulation (Link) I bring up PR2 with roslaunch pr2_gazebo pr2_emptyworld.launch I verify pr2 controller is up by roslaunch pr2_teleop teleop_keyboard.launch And then try to run fake_localization You can find thefull source code for this tutorialin our GitHub repository. ), 9. initial_Ty: y coordinate of starting position of tag. Restart the simulation with the map server enabled. Based on these measurements, the state estimators publish the filtered position, orientation and linear and angular velocity (nav_msgs/Odometry) on the/odometry/filteredtopic and (if enabled) the filtered acceleration on the/accel/filteredtopics. We can use it to localize our robot in the map. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Note that the pose is expressed in themapframe (its an absolute, non-continuous measurement) and that we only use the fields required for a 2D pose estimation (well ask the state estimator node to work in 2D mode in the launch file). If you are familiar with the concepts and code in the beginner level ROS and learning tf2 tutorials, understanding the rest of the source code should be a piece of cake. In Live Classes, you will practice with me at the same time that I explain, with the provided free ROS material. Creating a ROS Package (package summary - documentation) (package summary documentation). We dont use theearthframe in this tutorial. The first thing that an autonomous robot must know to do is how to navigate in an environment. document.getElementById( "ak_js_1" ).setAttribute( "value", ( new Date() ).getTime() ); Yes, please give me 8 times a year an update of Kapernikovs activities. (e.g., if the starting position of tag selected as [10, 15, 1.1], this parameter must be set as 10. What is this cookie thing those humans are talking about? There is some ongoing work towards more modern localization solutions in ROS2, but it would seem to be a long way off. Lets start with the position sensor. Core ROS Tutorials Beginner Level Installing and Configuring Your ROS Environment This tutorial walks you through installing ROS and setting up the ROS environment on your computer. To keep things really simple, we will. This book will change your life. It gives us turtlesim_node, which is nothing more than a square playground in which we can move one or more turtles that draw a line when they pass (just like the turtle that made the LOGO programming language famous in the 80s) and turtle_teleop_key to control a turtle using the keyboard (use the up and down arrows to move forward and backward and the left and right arrows to rotate counterclockwise and clockwise). This happens when we have a differential drive robot with different systematic errors on its wheel encoders. How to Use GPS With the Robot Localization Package - ROS 2 In this tutorial, we will integrate GPS data into a mobile robot in order to localize in an environment. In this tutorial, we will only discuss the relevant parts of the demonstrators source code. Check out the ROS 2 Documentation. IMPORTANT: Remember to be on time for the class because at the beginning of the class we will share the code with the attendants for free. The pose of the mobile robot in theodomframe can drift over time, making it useless as a long-term global reference. At the requested measurement frequency, it retrieves the most recent pose received by the/turtle1/posesubscriber and distort it using thestd::normal_distributions initialised in the constructor. Firstly, open the CMakeLists.txt document of indoor_localization and add dependencies: After that, open the package.xml document of indoor_localization and add these lines: Finally, add these line into the anchor_selection_node.py: After all the above steps (setting the parameters, prepare your own driver package etc.) Email First, we launch theturtlesim/turtlesim_nodenode to visualize the turtle, its sensor outputs and the position estimate and aturtlesim/turtle_teleop_keynode to control the turtle using the keyboard. First create a ROS driver package named "uwb_hardware_driver" in your workspace: After that create a msg file in your package: Go into the msg file and create an empty document named as "AnchorScan.msg". Default value is 0 nsecs. Using ROS localization The ROS navigation stacks provide a Monte-Carlo based module for localisation estimation called amcl. Each of the state estimators can fuse an arbitrary number of sensors (IMUs, odometers, indoor localization systems, GPS receivers) to track the 15 dimensional (x, y, z, roll, pitch, yaw, x, y, z, roll, pitch, yaw, x, y, z) state of the robot. How should you publish your own AnchorScan data? We specify its topic (/turtle1/sensors/twist), we take the absolute value, not the difference between the current and the previous value (in general, if you have multiple similar sensors, all but one are used in differential mode, see the documentation for details) and it providesx,yandyawmeasurements (we know our turtlebot cant move sideways, so they=0measurement is a valid measurement). ROS AmclIn this video, we look at how to localize a robot in ros Gazebo Environment. Moore and D. Stouch (2014), A Generalized Extended Kalman Filter Implementation for the Robot Operating System, in Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS-13) and its references. Most important thing about this package is publishing the TDOA data properly. The code of the velocity sensor is very similar. With this background knowledge and the instructions in the robot_localization tutorial, we should be able to configure the robot_localization package. You probably know this already from other ROS tutorials. The position sensor has a standard deviation of 0.2 units on the X and Y coordinates (the turtles playground above is 11 units wide and high) and 0.2 radians on the orientation of the turtle. You can change the covariance in the source code (I implemented them in the source code to make them dependent on the systematic and random errors specified when starting the node) or override them in the launch file or a parameter file (have a look at the robot_localization packages documentation for details). Regions can be selected as any polygons like triangle, rectangle, pentagon etc. We can use it to localize our robot in the map. The velocity is measured (orientation and magnitude) relative to the robot, so it is expressed in thebase_linkframe (it could be transformed to a pose change in theodomframe, but the velocity (and acceleration when available) itself is expressed in thebase_linkframe). 5. thr: This parameter (threshold) indicates the maximum distance between two positions (pre- and next-position). (Custom Map) Link to the Playlist https://www.youtube.com/playlist?list=PL8dDSKArO2-m7hAjOgqL5uV75aZW6cqE5 Link to amcl Launch File: https://github.com/PranaliDesai/Robomechtrix-ROS-Scripts/blob/main/amcl.launchPlease Like and Subscribe.Keep Watching Keep commentingRobomechtrix#amcl #localization #ros These values are used by calculate the position, anchor selection, KPI parameter calculation and error estimation. Finally, we add a helper node to show a turtle (drawing a thick green line) at the estimated position (map base_link). The robot_localization state estimator nodes accept measurements from an arbitrary number of pose-related sensors. Start the AMCL estimator, passing the laser scans topic as paramter: This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. By the end of this Live Class you will understand: How to create a map of the environment where your robot will work How to localize your robot in that map Robots used in this class: Summit XL robot from Robotnik: https: / /www.robotnik.es/robots-moviles/summit-xl/ Full online courses related to this topic: ROS Navigation in 5 Days: https://app.theconstructsim.com/Course/57?utm_source=youtube_openclass49\u0026utm_medium=youtube_openclass49_description\u0026utm_campaign=youtube_openclass49_description_ros_navigation_courselink Master the Summit XL robot: https://app.theconstructsim.com/Course/18?utm_source=youtube_openclass49\u0026utm_medium=youtube_openclass49_description\u0026utm_campaign=youtube_openclass49_description_mastering_with_ros_summit_xl_courselinkThe whole code will be provided for free to all the attendants to the class as a ROSject, containing simulation, notebook with instructions and ROS code.=============== ============= Every Tuesday at 18:00 CET / CEST. It should make sense if you think about theodom base_linktransform as the (best) estimate of the mobile robots pose based on continuous sensors (IMUs, odometry sources, open-loop control) only. The constructor, destructor and/turtle1/posesubscribers callback are almost identical to their position sensor counterparts. 12. With this background knowledge and the instructions in the robot_localization tutorial, we should be able to configure the robot_localization package. (e.g., if the starting position of tag selected as [10, 15, 1.1], this parameter must be set as 1.1.). 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