Learning Robotics using Python - Second Edition

Getting started with Adaptive Monte Carlo Localization

We have successfully built the map of the environment. Now we have to navigate autonomously from the current robot position to target position. The first step before starting autonomous navigation is localizing the robot in the current map. The algorithm we are using to localize on the map is called AMCL. The AMCL uses a particle filter to track the robot's position with respect to the map. We are using an ROS package to implement AMCL in our robot (http://wiki.ros.org/amcl). Similar to Gmapping, there are a lot of parameters to configure for the amcl node, which is inside the amcl package. You can find all the parameters of amcl on the ROS wiki page itself.

So how we can start AMCL for ...