Localization Metric - Githubissues

mrpt-ros-pkg / mrpt_navigation

ROS 2 nodes wrapping core MRPT functionality: localization, autonomous navigation, rawlogs, etc. SLAM is in other packages.

http://wiki.ros.org/mrpt_navigation

BSD 3-Clause "New" or "Revised" License

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Open David9696 opened 4 years ago

David9696 commented 4 years ago

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

jlblancoc commented 3 years ago

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! ;-)