Michel Hidalgo

We have some work ahead still, to polish, benchmark, and demo NDT-MCL in full. This ticket is old though, and I'm having second thoughts about the value of meta-tickets in...

Ping the maintainer to backport https://github.com/ros-planning/navigation2/pull/3315#issuecomment-1790573075. We'll see when and if we get a response.

Backported https://github.com/ros-planning/navigation2/pull/3938 ! We should be in the clear in the next package sync.

Well, no, the Nav2 folks did not release in time for https://discourse.ros.org/t/preparing-for-humble-sync-2023-12-15/35091.

Have we observed this again @glpuga @nahueespinosa ? I think not.

`beluga_benchmark` is getting replaced, so no need to track this external issue anymore.

@glpuga is this still a problem or did it get fixed back when you were collecting data for ERF?

Doing some housekeeping here. `beluga_benchmark` has been superseded and will be entirely replaced with #415, once we update it from https://github.com/Ekumen-OS/lambkin/pull/93.

> This way, instead of sampling always "from left to right" along the particles container, you systematically sample them but in a pseudorandom order. Isn't it the same :thinking:? Order...

> that would cause many beams to have a low value, and result in a pretty low multiplicative value. Hmm, I suspect there is a computational element to this. Working...