nav2_amcl

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amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map.

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This node is derived, with thanks, from Andrew Howard’s excellent ‘amcl’ Player driver.

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README

AMCL

Adaptive Monte Carlo Localization (AMCL) is a probabilistic localization module which estimates the position and orientation (i.e. Pose) of a robot in a given known map using a 2D laser scanner. This is largely a refactored port from ROS 1 without any algorithmic changes.

See the Configuration Guide Page for more details about configurable settings and their meanings.