[ros-users] AMCL general Disuccsion

[Suraj Swami]

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 at willowgarage.com>
> Subject: Re: [ros-users] AMCL general Disuccsion
> To: ros-users at code.ros.org
> Message-ID:
>        <AANLkTilhlZdhUXiknkqUuw2jNw0QZbRItqBeB4pvS3C5 at mail.gmail.com>
> Content-Type: text/plain; charset="iso-8859-1"
>
> 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 at 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
>
>
>
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
> -------------- next part --------------
> An HTML attachment was scrubbed...
> URL: /discuss/ros-users/attachments/20100623/ebd7971a/attachment-0001.htm
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20100626/fa93e3b2/attachment-0003.html>