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Localization Metric #122

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David9696 opened this issue Sep 7, 2020 · 1 comment

David9696 commented Sep 7, 2020

Hi,

Is there a way to check how well or how good the localisation via mrpt? Is there a way to detect lost?

Thanks.

David

Member

jlblancoc commented Sep 14, 2020

Hi @David9696 :

It's not implemented in the public ROS repo, but for the specific case of gridmap-based localization, one can use this:

laserScanSimulatorWithUncertainty() from the mean pose of the PF in the map,
Then evaluate the actual scan data vs. the returned scan+uncertainty using evaluateScanLikelihood().

If you test it, a pull-request would be more than welcome! ;-)

jlblancoc mentioned this issue

ROS 2 rework roadmap #135

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37 tasks

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