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feat(craic_localization): add package foundation, configs, and launch files

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New ROS2 package for wheel odometry + LiDAR localization. Includes: AMCL config (omni model, likelihood_field), gmapping config (5cm grid, 30 particles), YDLiDAR TminiPro config, launch files for lidar bringup, SLAM mapping, AMCL localization, and sensor calibration, plus RViz config with Map/LaserScan/Odometry displays.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
FallenSigh
2026-06-19 06:30:30 +08:00
parent 46a18f68bf
commit a546aff1a6
13 changed files with 695 additions and 0 deletions
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ros2/src/craic_localization/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>craic_localization</name>
<version>0.0.0</version>
<description>Wheel odometry + LiDAR localization for the CRAIC mobile base</description>
<maintainer email="fallensigh@gmail.com">fallensigh</maintainer>
<license>MIT</license>
<depend>rclpy</depend>
<depend>nav_msgs</depend>
<depend>geometry_msgs</depend>
<depend>std_msgs</depend>
<depend>tf2_ros</depend>
<depend>visualization_msgs</depend>
<exec_depend>python3-yaml</exec_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>