In this chapter, we are using the amcl
algorithm for the localization. amcl
is a probabilistic localization system for a robot moving in 2D. This system implements the adaptive Monte Carlo localization approach, which uses a particle filter to track the pose of a robot against a known map.
amcl
has many configuration options that will affect the performance of localization. For more information on amcl
, please see the AMCL documentation. In the following links, you can find more information about it:
The amcl
node works mainly with laser scans and laser maps, but it could be extended to work with other sensor data, such as a sonar or stereo vision. So for this chapter, it takes a laser-based map and laser scans, and transforms messages and generates a probabilistic pose. On startup, amcl
initializes its particle filter according to the parameters provided in the setup. If you don...