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Package Summary

The mrpt_localization package

Package Summary

This package provides an interface for the mprt (Mobile robotics C++ libraries) and enables the included node to solve a 2D self-localization problem given an existing map. The node is able to use mrpt map formats as well as published ros maps. The interface is similar to the amcl (http://wiki.ros.org/amcl) pkg.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (http://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

mrpt_navigation: mrpt_bridge | mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_msgs | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (http://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (http://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (http://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

mrpt_navigation: mrpt_local_obstacles | mrpt_localization | mrpt_map | mrpt_rawlog | mrpt_reactivenav2d | mrpt_tutorials

Package Summary

Package for robot 2D self-localization using dynamic or static (MRPT or ROS) maps. The interface is similar to amcl (http://wiki.ros.org/amcl) but supports different particle-filter algorithms, several grid maps at different heights, range-only localization, etc.

Overview

This package uses dynamic or static (MRPT or ROS) maps for self-localization. If an MRPT format is used the node publishes the map for debugging and interface reasons in ROS standard format.

MRPT particle filtering allows for localization with:

pioneer.jpg This Figure shows the mprt pf-localization working together with ROS. RViz can be used to visualize the data and to set an initial pose.

Demos

LIDAR localization with a gridmap

Run:

roslaunch mrpt_localization demo.launch

to start:

Range-only (RO) localization with a set of fixed, known radio beacons

Run:

roslaunch mrpt_localization demo_ro.launch

to start:

Tutorial

We added also gazebo tutorial, but you have to get sure to have gazebo_ros, teleop_twist_keyboard and some other pkg installed. The tutorial shows a pioneer 3DX robot unter the namespace r1.

Nodes

mrpt_localization

The mrpt_localization node wraps MRPT particle-filter localization algorithms through a ROS interface. See demo launch-file and tutorials above.

Example usage:

roslaunch mrpt_localization demo.launch


2019-06-22 12:55