<div>Hi Brian,</div><div><br></div><div>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. </div>
<div><br></div><div>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. </div>
<div> </div><div>Hence I am trying to get the AMCL working before I make changes to it. </div><div><br></div><div>Please feel free to comment and suggest on this approach. </div><div><br></div><div>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. </div>
<div><br></div><div><br></div><div>Thank you for all the support.</div><div><br></div><div>-Suraj. </div><div><br></div><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
Message: 10<br>
Date: Wed, 23 Jun 2010 19:38:01 -0700<br>
From: Brian Gerkey <<a target="_blank" href="mailto:gerkey@willowgarage.com">gerkey@willowgarage.com</a>><br>
Subject: Re: [ros-users] AMCL general Disuccsion<br>
To: <a target="_blank" href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
Message-ID:<br>
<<a target="_blank" href="mailto:AANLkTilhlZdhUXiknkqUuw2jNw0QZbRItqBeB4pvS3C5@mail.gmail.com">AANLkTilhlZdhUXiknkqUuw2jNw0QZbRItqBeB4pvS3C5@mail.gmail.com</a>><br>
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<br>
Hi Suraj,<br>
<br>
The amcl package is an implementation of the algorithm described in the<br>
ProbRob book. Is there something lacking in that implementation?<br>
<br>
brian.<br>
<br>
On Jun 21, 2010 3:12 PM, "Suraj Swami" <<a target="_blank" href="mailto:suraj.g.swami@gmail.com">suraj.g.swami@gmail.com</a>> wrote:<br>
<br>
Hi,<br>
<br>
I have some general question about AMCL. I am not sure if this the right<br>
place to ask. Just that I am working on my own so I need some guidance.<br>
<br>
I have written Monte Carlo localization algorithm in Matlab. And I am now<br>
writing it in ROS such that I make the required modification as per my<br>
environment and use it for a practical robot. If it works out very good I<br>
would even like to make it open source so that it is available on ros<br>
repositories.<br>
<br>
Would you recommend me to make modification in the present amcl node or<br>
write from scratch ?<br>
<br>
I am confused whether to use OpenCV or Geometry package for matrix and maths<br>
operations.<br>
<br>
What would be the parameters to check the efficiency of my program. I will<br>
be mainly focusing on Pose Calculation time and ability to handle kidnapping<br>
problem. I guess these are solved problems. So there any thing this I must<br>
be really concerned about.<br>
<br>
I am referring to book the "Probabilistic Robotics" and papers from IEEE.<br>
<br>
Do you recommend any specific package that would help me.<br>
<br>
Thank you.<br>
<br>
Regards,<br>
Suraj Swami<br>
<br>
<br>
<br>
<br>
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