Beluga AMCL

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
jazzy

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
iron

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
humble

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

File truncated at 100 lines see the full file

CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

Recent questions tagged `beluga_amcl` at Robotics Stack Exchange

beluga_amcl package from beluga repo

beluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb

ROS Distro
noetic

Package Summary

Version	2.0.2
License	Apache License 2.0
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/Ekumen-OS/beluga.git
VCS Type	git
VCS Version	main
Last Updated	2025-09-11
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

An AMCL node implementation for ROS2 using Beluga.

Maintainers

Gerardo Puga
Ivan Paunovic
Michel Hidalgo
Nahuel Espinosa

Authors

No additional authors.

Beluga AMCL

Beluga AMCL is a ROS node based on the Beluga library that aims to be fully compatible with both [Navigation 2 AMCL][nav2_amcl] and [Navigation AMCL][amcl] nodes.
The compatibility between beluga_amcl and its longstanding counterparts in the ROS ecosystem provides a simple migration path for projects that want to be able to integrate the power and modularity of the Beluga library in an existing nav2_amcl-based (or amcl-based) project.

ROS 2 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [Navigation 2 AMCL][nav2_amcl].
See Beluga AMCL documentation for further reference.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic, and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initial_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Alternatively, and instead of the scan_topic, one may set the point_cloud_topic. Point clouds are assumed to be contained in a z = constant plane in the base frame of reference. It is further assumed this plane is the same plane where the map and pose estimates are defined. If this is not the case, Beluga AMCL will misbehave. It is on the user to filter point clouds and make sure these assumption hold.

Published Topics

Topic	Type	Description
`particle_cloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud poses published at a fixed frequency.
`particle_markers`	`visualization_msgs/MarkerArray`	Output topic for particle cloud markers published at a fixed frequency.
`likelihood_field`	`nav_msgs/OccupancyGrid`	Output topic for likelihood field, published on update when applicable.
`pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.

Published Transforms

The frame names can be changed with the parameters global_frame_id, odom_frame_id and base_frame_id. Defaults are map, odom and base.

Transform	Description
`odom` to `base`	Input transform used by motion models and resampling policies.
`base` to `laser`	Input transform used to convert laser scan points to base frame.
`map` to `odom`	Output transform calculated from the estimated pose mean and the current odom-to-base transform.

Advertised Services

Topic	Type	Description
`reinitialize_global_localization`	`std_srvs/Empty`	Request to reinitialize global localization without an initial pose estimate.
`request_nomotion_update`	`std_srvs/Empty`	Trigger a forced update of the filter estimates.

ROS 1 Interface

Parameters

Beluga AMCL currently supports the majority of ROS parameters used in [AMCL][amcl].
See Beluga AMCL parameter reference for detailed information.

Subscribed Topics

The subscribed topic names can be changed with the parameters map_topic, scan_topic and initial_pose_topic.

Topic	Type	Description
`map`	`nav_msgs/OccupancyGrid`	Input topic for map updates.
`scan`	`sensor_msgs/LaserScan`	Input topic for laser scan updates.
`initialpose`	`geometry_msgs/PoseWithCovarianceStamped`	Input topic for pose mean and covariance to initialize the particle filter.

Published Topics

Topic	Type	Description
`particlecloud`	`geometry_msgs/PoseArray`	Output topic for particle cloud published at a fixed frequency.
`amcl_pose`	`geometry_msgs/PoseWithCovarianceStamped`	Output topic for estimated pose mean and covariance in map frame.
`diagnostics`	`diagnostic_msgs/DiagnosticArray`	Output topic for node diagnostics.

Published Transforms

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CHANGELOG

Changelog for package beluga_amcl

2.0.2 (2024-06-18)

Expand grid concepts to n dimensions (#396)
Change NDT sensor model default params (#397)
Contributors: Ramiro Serra

2.0.1 (2024-05-24)

2.0.0 (2024-05-21)

Please clang-tidy on Ubuntu Noble (#379)
Add ROS 2 Jazzy to CI/CD and dev workflows (#378)
Restore particle cloud visualization using markers (#377)
Enable beluga_amcl ROS 2 nodes' autostart (#376)
Use [geometry_msgs::msg::PoseArray]{.title-ref} instead of [nav2_msgs::msg::ParticleCloud]{.title-ref} (#372)
Fix tf broadcasting (#375)
Remove ament_index_cpp dependency (#374)
Improve ROS version detection logic (#366)
Add example for NDT sensor model in beluga_example (#360)
Add NDT AMCL node and tests. (#347)
Unify Beluga documentation (#346)
Add death tests and build in debug mode (#323)
Migrate [beluga_amcl]{.title-ref} to the new API (#328)
Relocate [make_random_state()]{.title-ref} method (#324)
Make test matchers and printers available to users (#300)
Motion and sensor models are not mixins (#291)
Integrate views with mixins (#284)
Transform points in laser frame to robot frame (#276)
Generalize planar laser scan support (#271)
Add new discrete landmark and bearing sensor models to the beluga library (#268)
Add [beluga_ros]{.title-ref} package (#270)
Make particle cloud message weights represent pdf (#260)
Add updated performance report (#255)
Fix missing control to force a filter update on pose updates (#248)
Change default AMCL params (#244)
Format pre-commit hook configuration (#245)
Add cmake-format to pre-commit hooks (#243)
Rename motion models in Beluga AMCL for ROS 1 (#242)
Replace ament_copyright with local script (#240)
Remove ament_flake8 from pre-commit hooks (#237)
Remove uncrustify and cpplint from pre-commit hooks (#236)
Refactor resampling policies into filter update control (#233)
Add ROS 2 Rolling CI infrastructure (#222)
Add ROS Noetic support to [beluga_amcl]{.title-ref} (#218)
Fix flaky transform test (#220)
Fix map to odom transform calculation (#212)
Add new report after recent performance updates (#208)
Fix small issues with plotter and update MessageFilter tolerance before generating new report
Disable branch and function coverage (#205)
Change default threading mode to the less cpu-consuming one (#203)
Optimize beam sensor model runtime performance (#200)
Add AMCL parameter reference page (#196)
Add tests for the AMCL node

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Package Dependencies

Deps	Name
	catkin
	ament_cmake
	rostest
	ament_cmake_ros
	beluga
	beluga_ros
	message_filters
	std_srvs
	diagnostic_updater
	dynamic_reconfigure
	nodelet
	bondcpp
	roscpp
	rclcpp
	rclcpp_components
	rclcpp_lifecycle

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
beluga_benchmark
beluga_example

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

nodelet

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