beluga_amcl

An AMCL node implementation for ROS2 using Beluga.

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README

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both Navigation 2 AMCL and Navigation AMCL nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

Table of Contents

• Beluga AMCL

  • Table of Contents

  • ROS 2 Interface

    • Parameters

    • Subscribed Topics

    • Published Topics

    • Published Transforms

    • Advertised Services

  • ROS 1 Interface

    • Parameters

    • Subscribed Topics

    • Published Topics

    • Published Transforms

    • Advertised Services

    • Called Services

  • Performance

  • Next Steps

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in Navigation 2 AMCL.
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
map	nav_msgs/OccupancyGrid	Input topic for map updates.
scan	sensor_msgs/LaserScan	Input topic for laser scan updates.
initial_pose	geometry_msgs/PoseWithCovarianceStamped	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
particle_cloud	geometry_msgs/PoseArray	Output topic for particle cloud published at a fixed frequency.
pose	geometry_msgs/PoseWithCovarianceStamped	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
odom to base	Input transform used by motion models and resampling policies.
base to laser	Input transform used to convert laser scan points to base frame.
map to odom	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
reinitialize_global_localization	std_srvs/Empty	Request to reinitialize global localization without an initial pose estimate.
request_nomotion_update	std_srvs/Empty	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in AMCL.
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
map	nav_msgs/OccupancyGrid	Input topic for map updates.
scan	sensor_msgs/LaserScan	Input topic for laser scan updates.
initialpose	geometry_msgs/PoseWithCovarianceStamped	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
particlecloud	geometry_msgs/PoseArray	Output topic for particle cloud published at a fixed frequency.
amcl_pose	geometry_msgs/PoseWithCovarianceStamped	Output topic for estimated pose mean and covariance in map frame.
diagnostics	diagnostic_msgs/DiagnosticArray	Output topic for node diagnostics.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
odom to base	Input transform used by motion models and resampling policies.
base to laser	Input transform used to convert laser scan points to base frame.
map to odom	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
global_localization	std_srvs/Empty	Request to reinitialize global localization without an initial pose estimate.
request_nomotion_update	std_srvs/Empty	Trigger a forced update of the filter estimates.
set_map	nav_msgs/SetMap	Set a new map and initial pose estimate.

Called Services

Topic	Type	Description
static_map	nav_msgs/GetMap	To retrieve map on initialization, if use_map_topic parameter is false

Performance

Performance reports are periodically generated and uploaded to track performance improvements and regressions. These reports are generated using a set of scripts in the beluga_benchmark package which can be used to compare the performance of beluga_amcl against that of nav2_amcl using a synthetic dataset.

The following plot displays the RSS (Resident Set Size), CPU usage, APE (Absolute Pose Error) and processing latency statistics for both beluga_amcl and nav2_amcl, with particle sizes ranging between 250 and 200000 and sensor model likelihood field.

The following plot displays the RSS (Resident Set Size), CPU usage, APE (Absolute Pose Error) and processing latency statistics for both beluga_amcl and nav2_amcl, with particle sizes ranging between 250 and 200000 and sensor model beam.

Further details can be found in the reports folder here.

Next Steps

• See example launch files showing how to run Beluga-based nodes.

• See available benchmarks for scripts and comparison with other AMCL implementations.