Hi Brian,

I am Master's Student at University of North Carolina doing Individual project. This will help me to learn ROS in depth as well as practical implementation of AMCL. 

To my knowledge the AMCL driver is very complete. I could get it working in Player. Mainly I am trying to make filters for  sonar or might be laser and incorporate in the same package. I am in the impression that this package is written at most optimized. So after I make some changes in the method to weight the poses I would like to compare to the performance of this package to see how well the filters are doing. This is my main goal for the project. 
 
Hence I am trying to get the AMCL working before I make changes to it. 

Please feel free to comment and suggest on this approach. 

Actually I am still not sure how to compare the performance. Can you suggest of parameters that should be of concern. Or any ROS tools that will help me get clear picture of the performance. 


Thank you for all the support.

-Suraj. 

Message: 10
Date: Wed, 23 Jun 2010 19:38:01 -0700
From: Brian Gerkey <gerkey@willowgarage.com>
Subject: Re: [ros-users] AMCL general Disuccsion
To: ros-users@code.ros.org
Message-ID:
       <AANLkTilhlZdhUXiknkqUuw2jNw0QZbRItqBeB4pvS3C5@mail.gmail.com>
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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" <suraj.g.swami@gmail.com> 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




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