beluga
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Ekumen-OS
A general implementation of Monte Carlo Localization (MCL) algorithms written in C++17, and a ROS package that can be used in ROS 1 and ROS 2.
### Feature description Beluga's AMCL best performing sensor model is far from perfect. We know our implementation doesn't handle unknown space, we know it completely breaks down when obstacles expand...
### Feature description Connected to #93. Depends on #311. Precisely what the title says. Implement a ROS 2 node for 2D localization by feeding point clouds and a map to...
## Description Following up on [this discussion](https://github.com/ekumenlabs/beluga/discussions/43#discussioncomment-4621246). As we're looking for targets to show the versatility of `beluga`, MH-AMCL is probably worth considering. In addition to the multiple hypothesis machinery,...
### Feature description Recent benchmarks have shown that, while Beluga AMCL and Nav2 AMCL are on par on average, Beluga's worst case performance (i.e. $sup \mathrm{APE}$) is subpar compared to...
### Feature description Beluga's design allows for compile-time extension via mixins. This is at odds with most extensible ROS packages, which enable runtime extension via (shared library-based) plugins. It would...
## Description The last few weeks have been rich in design proposals for problems we're likely to encounter again. Since we are A few of these are probably worth keeping...
### Feature description Connected to https://github.com/Ekumen-OS/beluga/discussions/172. Good ol' AMCL computes sampled mean and covariance from particle clusters, whereas Beluga AMCL computes sampled mean and covariance for the entire posterior particle...
## Description Once we are past #85, we will need extensive performance benchmarking to show `beluga_amcl` is indeed as good if not better than `nav2_amcl`. While we could extend #117...
### Bug description I've run ASan reports via [colcon sanitizer reports](https://github.com/colcon/colcon-sanitizer-reports) over beluga and beluga_amcl. You will be happy to hear that beluga is free of detectable address bugs but...
### Bug description The localization solution seems to wobble around when the robot turns on the video in the landing page in a very noticeable way: https://github.com/Ekumen-OS/beluga#overview I know we...