Abstract
We present beluga_amcl, a novel Robot Operating System (ROS) localization package that implements Adaptive Monte Carlo localization (AMCL), one of the most widely used algorithms for map-based localization in the ROS navigation stack.
The beluga_amcl package is fully compatible with the long-known and widely used nav2_amcl package, but stands out in that it was designed from the ground-up to be high-quality, production grade open-source software, in line with current expectations of the ROS 2 community.
In this paper we demonstrate that beluga_amcl is a robust and performant implementation of the features in nav2_amcl, and that it can thus be considered a suitable functional replacement for it. This provides the ROS community with a modern, high-quality, and backwards-compatible MCL package that can be a basis for further extension.
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Notes
- 1.
evo (https://github.com/MichaelGrupp/evo) and timememory (https://github.com/NERSC/timemory) were used for data capture and evaluation.
References
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Puga, G., Espinosa, N., Hidalgo, M., García, O., Paunovic, I. (2024). Beluga: A Modern Monte Carlo Localization Package for ROS and ROS 2. In: Secchi, C., Marconi, L. (eds) European Robotics Forum 2024. ERF 2024. Springer Proceedings in Advanced Robotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-76424-0_23
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