Template for robot_localization

src/world_modeling/localization/CMakeLists.txt

@@ -9,6 +9,12 @@ endif()
 find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(robot_localization REQUIRED)
+
+# Copy launch and config files to installation location
+install(DIRECTORY
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME})
 
 ament_package()

src/world_modeling/localization/launch/localization.launch.py

@@ -0,0 +1,15 @@
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+import os
+
+
+def generate_launch_description():
+    """Launch localization node."""
+
+    return LaunchDescription([
+
+    ])

src/world_modeling/localization/package.xml

@@ -3,11 +3,12 @@
 <package format="3">
   <name>localization</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="e23zhou@uwaterloo.ca">bolty</maintainer>
+  <description>Localization using robot_localization package</description>
+  <maintainer email="v3jayaku@watonomous.ca">Vishal Jayakumar</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>robot_localization</depend>
 
 
   <export>