Tutorial 7 - Particle Filter Localization

• Particle Filter Localization
  • Where This Fits
  • Why a Standalone Particle Filter?
  • How It Works
    • Publishing
  • Topics
  • Run Steps
  • Key Parameters
    • range_method Options
  • Troubleshooting
• Understanding the Particle Filter Code
  • The Big Picture
    • Outputs
  • Initialization
  • Motion Model
  • Sensor Model
    • Precomputed Lookup Table
    • Runtime Evaluation
  • The MCL Loop
  • Update Trigger
  • TF and Odometry Output
  • Map and RangeLibc
  • LiDAR Downsampling
  • Key Takeaways
• Tuning the Particle Filter (localize.yaml)
  • Topic Names
  • Particle Count
  • LiDAR Downsampling
  • Motion Model Dispersion
  • Sensor Model Weights
  • Squash Factor
  • Ray Casting Method
  • Other Settings
  • Map Server Section
  • Recommended Starting Points for Tuning
• Understanding the Launch File
  • What Happens When You Launch
  • Loading the Config
  • Launch Arguments
  • Node 1: Particle Filter
  • Node 2: Map Server
  • Node 3: Lifecycle Manager
  • Launch Order
  • The Complete Flow