Hi Suraj, The amcl package is an implementation of the algorithm described in the ProbRob book. Is there something lacking in that implementation? brian. On Jun 21, 2010 3:12 PM, "Suraj Swami" wrote: Hi, I have some general question about AMCL. I am not sure if this the right place to ask. Just that I am working on my own so I need some guidance. I have written Monte Carlo localization algorithm in Matlab. And I am now writing it in ROS such that I make the required modification as per my environment and use it for a practical robot. If it works out very good I would even like to make it open source so that it is available on ros repositories. Would you recommend me to make modification in the present amcl node or write from scratch ? I am confused whether to use OpenCV or Geometry package for matrix and maths operations. What would be the parameters to check the efficiency of my program. I will be mainly focusing on Pose Calculation time and ability to handle kidnapping problem. I guess these are solved problems. So there any thing this I must be really concerned about. I am referring to book the "Probabilistic Robotics" and papers from IEEE. Do you recommend any specific package that would help me. Thank you. Regards, Suraj Swami _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users