How do I install the Localization skill?

Run npx skillmds@latest add miuav/localization-2 in your terminal (requires Node.js), paste this page's agent-chat prompt into Claude, Cursor, or any MCP-connected agent, or download the SKILL.md file and copy it into your agent's skills directory.

What does the Localization skill do?

四足机器人定位 - SLAM建图、IMU融合、EKF定位、UWB定位 It is listed under Coding & Dev Tools on SkillMD.

Is Localization safe to use?

This skill has not completed SkillMD's automated safety review yet. SkillMD never runs a skill's scripts for you; review the SKILL.md before installing.

Which AI agents work with Localization?

This skill is tagged as working with Claude Code, Claude.ai, OpenAI Codex. SKILL.md is an open format, so most agents that read a skills directory can load it too.

Is Localization free to use?

Yes. Installing skills from SkillMD is free, and the skill stays under its author's original license.

Who published Localization?

miuav (@miuav) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Localization by miuav — Agent Skill

Name: Localization
Author: miuav

File contents

四足机器人定位技能

用于配置和开发四足机器人的定位系统

何时使用

当需要以下帮助时使用此技能：

配置 SLAM 建图
实现 IMU 融合
设置 EKF 定位
室外 GPS/RTK 定位

快速参考

SLAM 框架

框架	特点	适用场景
cartographer	闭环检测、submap	室内建图
gmapping	粒子滤波	小范围建图
karto	稀疏调整	中等范围
RTAB-Map	外观匹配	大范围
LIO-SAM	激光+IMU	室外

激光雷达 SLAM

cartographer

# 启动 cartographer
ros2 launch cartographer_ros cartographer.launch.py \
    configuration_basename:=lantern.lua \
    robot_description:=robot.urdf

配置文件

-- lantern.lua
TRAJECTORY_BUILDER_2D.scans_per_accumulation = 1
POSE_GRAPH.optimize_every_n_nodes = 90

gmapping

ros2 launch slam_toolbox online_async_launch.py \
    slam_params_file:=params.yaml

IMU 融合

EKF 定位

ekf_filter:
  frequency: 50
  odom0: /odom
  odom1: /imu
  imu0: /imu/data
  
  process_noise_cov: [0.05, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]

robot_localization

ros2 launch robot_localization ekf.launch.py \
    odometry:=ekf_odom \
    config_file:=ekf.yaml

视觉定位

RTAB-Map

ros2 launch rtabmap rtabmap.launch.py \
    rgbd_sync:=true \
    scan_cloud_topic:=/scan \
    odom_topic:=/odom

VIO

vio:
  provider: rtabmap / vins-fusion / okvis
  
  camera:
    topics: [/camera/left/image, /camera/right/image]
    baseline: 0.12

GPS/RTK 定位

GPS 配置

# NMEA GPS
ros2 run nmea_navsat_driver nmea_serial_node \
    port:=/dev/gps \
    baud:=115200

RTK 配置

rtk:
  type: ublox / septentrio
  
  corrections:
    type: NTRIP
    caster: rtk.example.com
    port: 2101
    mountpoint: RTS0
    username: user
    password: pass

多机器人定位

差分定位

def compute_relative_pose(pose1, pose2):
    """计算两个机器人间的相对位姿"""
    delta_x = pose2.x - pose1.x
    delta_y = pose2.y - pose1.y
    delta_theta = pose2.theta - pose1.theta
    
    return (delta_x, delta_y, delta_theta)

常用功能包

包	功能
`cartographer_ros`	cartographer SLAM
`slam_toolbox`	同步定位建图
`robot_localization`	EKF 融合
`rtabmap_ros`	视觉 SLAM
`nmea_navsat_driver`	GPS 驱动

相关文档

---name: localization-2description: 四足机器人定位 - SLAM建图、IMU融合、EKF定位、UWB定位---# 四足机器人定位技能> 用于配置和开发四足机器人的定位系统---## 何时使用当需要以下帮助时使用此技能：- 配置 SLAM 建图- 实现 IMU 融合- 设置 EKF 定位- 室外 GPS/RTK 定位---## 快速参考### SLAM 框架| 框架 | 特点 | 适用场景 ||------|------|----------|| **cartographer** | 闭环检测、submap | 室内建图 || **gmapping** | 粒子滤波 | 小范围建图 || **karto** | 稀疏调整 | 中等范围 || **RTAB-Map** | 外观匹配 | 大范围 || **LIO-SAM** | 激光+IMU | 室外 |---## 激光雷达 SLAM### cartographer```bash# 启动 cartographerros2 launch cartographer_ros cartographer.launch.py \ configuration_basename:=lantern.lua \ robot_description:=robot.urdf```### 配置文件```lua-- lantern.luaTRAJECTORY_BUILDER_2D.scans_per_accumulation = 1POSE_GRAPH.optimize_every_n_nodes = 90```### gmapping```bashros2 launch slam_toolbox online_async_launch.py \ slam_params_file:=params.yaml```---## IMU 融合### EKF 定位```yamlekf_filter: frequency: 50 odom0: /odom odom1: /imu imu0: /imu/data process_noise_cov: [0.05, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]```### robot_localization```bashros2 launch robot_localization ekf.launch.py \ odometry:=ekf_odom \ config_file:=ekf.yaml```---## 视觉定位### RTAB-Map```bashros2 launch rtabmap rtabmap.launch.py \ rgbd_sync:=true \ scan_cloud_topic:=/scan \ odom_topic:=/odom```### VIO```yamlvio: provider: rtabmap / vins-fusion / okvis camera: topics: [/camera/left/image, /camera/right/image] baseline: 0.12```---## GPS/RTK 定位### GPS 配置```bash# NMEA GPSros2 run nmea_navsat_driver nmea_serial_node \ port:=/dev/gps \ baud:=115200```### RTK 配置```yamlrtk: type: ublox / septentrio corrections: type: NTRIP caster: rtk.example.com port: 2101 mountpoint: RTS0 username: user password: pass```---## 多机器人定位### 差分定位```pythondef compute_relative_pose(pose1, pose2): """计算两个机器人间的相对位姿""" delta_x = pose2.x - pose1.x delta_y = pose2.y - pose1.y delta_theta = pose2.theta - pose1.theta return (delta_x, delta_y, delta_theta)```---## 常用功能包| 包 | 功能 ||----|------|| `cartographer_ros` | cartographer SLAM || `slam_toolbox` | 同步定位建图 || `robot_localization` | EKF 融合 || `rtabmap_ros` | 视觉 SLAM || `nmea_navsat_driver` | GPS 驱动 |---## 相关文档- [Cartographer文档](https://google-cartographer-ros.readthedocs.io/)- [RTAB-Map](https://introlab.github.io/rtabmap/)- [robot_localization](https://github.com/cra-ros-pkg/robot_localization)

Frequently asked questions

Localization