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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Understanding AMCL

After building a map of the environment, the next thing we need to implement is localization. The robot should localize itself on the generated map. We have worked with AMCL in Chapter 6, Using the ROS MoveIt! and Navigation Stack. In this section, we will see a detailed study of the amcl package and the amcl launch files used in Chefbot. AMCL implements the probabilistic localization technique for robot working in 2D. This algorithm uses particle filters for tracking the pose of the robot with respect to the known map. To know more about this localization technique, you can refer to a book called Probabilistic Robotics by Thrun (http://www.probabilistic-robotics.org/). The AMCL algorithm is implemented in the AMCL ROS ...

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