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amcl_auto_localization

ROS Galactic demo showing how to use the nomotion_update service that is part of the AMCL algorithm implemented in Navigation2 stack.

How to use?

  1. Run localization example from this tutorial,
  2. Update docker flags in nomotion-upadte.sh to match those in your .env file, from rosbot-docker/demo.env.template,
  3. Run nomotion-upadte.sh script: 
    ./nomotion-upadte.sh

Result:

The robot will begin to rotate (!TODO add continuous rotation) and, in successive iterations, should determine its position more and more accurately until the covariance is acceptably small (!TODO add this condition - currently is a fixed number of iterations).