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...