ROS Index
|
beluga_amcl package from beluga repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
Recent questions tagged beluga_amcl at Robotics Stack Exchange
|
|
beluga_amcl package from beluga repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
Recent questions tagged beluga_amcl at Robotics Stack Exchange
|
|
beluga_amcl package from beluga repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
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 repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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
Recent questions tagged beluga_amcl at Robotics Stack Exchange
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beluga_amcl package from beluga repobeluga beluga_amcl beluga_benchmark beluga_example beluga_ros beluga_system_tests beluga_tools beluga_tutorial beluga_vdb |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| 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 | 2025-04-24 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
An AMCL node implementation for ROS2 using Beluga.
Additional Links
No additional links.
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.
Table of Contents
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. |
Published Topics
| Topic | Type | Description |
|---|---|---|
particle_cloud |
geometry_msgs/PoseArray |
Output topic for particle cloud published at a fixed frequency. |
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
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. |
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
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