Michel Hidalgo

### Feature description Precisely what the title says. Beluga AMCL was built to be a drop-in replacement for Nav2 AMCL. Alas, there is zero documentation on how to make that...

### Feature description Precisely what the title says. While we do have contributing guidelines, we don't have a good onboarding guide for anyone that may want to contribute to the...

Write tutorial on extending Beluga

2

### Feature description Precisely what the title says. Despite the fact extensibility is one of Beluga's major selling points, we have zero documentation on how one is supposed to do...

### Feature description As a library of Monte Carlo methods for Bayesian inference, Beluga is built on theoretical framework that many may not be familiar with. While there is no...

### Feature description Precisely what the title says. It should be trivial for anyone to start using Beluga on their projects. Make sure to cover: - [ ] Binary installs...

### Feature description Beluga's documentation landing page needs some work. A potential user should walk away with a clear understanding of why Beluga exists, what it offers, and why should...

Add nD-NDT maps to Beluga

6

### Feature description Connected to #93. Before we can implement NDT based sensor models in Beluga, we need an efficient data structure for NDT maps of arbitrary dimension. ### Implementation...

Implement nD-NDT sensor model in Beluga

1

### Feature description Connected to #93. Depends on #309. Precisely what the title says. Craft a likelihood function by matching a point cloud with an NDT map. Good performance is...

Write tutorial on using Beluga

1

### Feature description Precisely what the title says. While Beluga's API is well documented, the only reference on how to make use of the library is a ROS node and...

### Feature description #279 uncovered a few discrepancies between our implementation of the particle degeneracy recovery algorithm and that of Nav2 AMCL. We should revisit both control flow and normalization...