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I'm looking for particle filter implementation in ROS to use in mobile robot localization, but it seems the only available package is amcl (Adaptive Monte Carlo), I'm not sure is it possible to use it as particle filter or not, and if it's feasible, how?

Note: The robot (wheeled robot) provides odometry data and another data source is Kinect, that provides visual odometry data using fovis.


Originally posted by maysamsh on ROS Answers with karma: 139 on 2013-11-17

Post score: 2

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One way to do it is with bfl (the Bayesian Filtering Library)which is part of the Orocos project and bundled with ROS. This is what packages like robot_pose_ekf use at their core. They even provide examples of how to write a particle filter for a mobile robot in their getting started guide.

I have used this library directly when pre-existing nodes don't quite provide what I want with very little trouble. Hope that helps!


Originally posted by jarvisschultz with karma: 9031 on 2013-11-17

This answer was ACCEPTED on the original site

Post score: 6

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