Component Short Description: The ComponentAmclWithTags implements the Adaptive Monte-Carlo Localization (AMCL) algorithm.
ComponentAmclWithTags extends the AMCL to use a virtual laser generated from RGBD camera and visual markers to solve the issues concerning the global localization, reducing the uncertainty in pose estimates during tracking and kidnapped robot problem.
For More information :
Nayabrasul Shaik, Matthias Lutz and Christian Schlegel, “2D Localization in Large Areas Using Inexpensive RGBD Camera Augmented With Visual Tags“. In Proc. 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Vienna, Austria, 2020, pp. 613-619, doi: 10.1109/ETFA46521.2020.9211882.
GPL-License: includes Code from the Player Project.
See also: http://playerstage.sourceforge.net/doc/Player-2.0.0/player/group__driver__amcl.html
| Property Name | Property Value | Property Description |
|---|---|---|
| SpdxLicense | LGPL-2.0-or-later | https://spdx.org/licenses/LGPL-2.0-or-later.html |
| TechnologyReadinessLevel | TRL5 | |
| Homepage | http://servicerobotik-ulm.de/components | |
| Supplier | Servicerobotics Ulm | |
| Purpose | Localization |
Documentation:
Documentation:
Documentation:
Documentation:
Documentation:
| Attribute Name | Attribute Type | Attribute Value | Attribute Description |
|---|---|---|---|
| min_particles | Int32 | 500 | Lower bound for amount of particles. |
| max_particles | Int32 | 5000 | Upper bound for amount of particles. |
| recovery_alpha_slow | Double | 0.001 | Decay rates for running averages. Used in deciding when to recover by adding random poses. |
| recovery_alpha_fast | Double | 0.1 | Decay rates for running averages. Used in deciding when to recover by adding random poses. |
| kld_err | Double | 0.05 | Population size error. |
| kld_z | Double | 0.99 | Population size. |
| update_min_d | Double | 0.2 | Update filter if x or y pos delta greater than update_min_d or delta of alpha > update_min_alpha. |
| update_min_alpha | Double | 0.5236 | Update filter if x or y pos delta greater than update_min_d or delta of alpha > update_min_alpha. |
| resample_interval | Double | 1.0 | The distributions will be resampled every x'th time. |
Documentation:
| Attribute Name | Attribute Type | Attribute Value | Attribute Description |
|---|---|---|---|
| max_beams | UInt32 | 30 | Consider at most max_beams beams from laser for localization. |
| z_hit | Double | 0.95 | |
| z_short | Double | 0.1 | |
| z_max | Double | 0.05 | |
| z_rand | Double | 0.05 | |
| sigma_hit | Double | 0.2 | |
| lambda_short | Double | 0.1 | |
| laser_likelihood_max_dist | Double | 2.0 | |
| laser_model_type | String | "likelihood_field" | Values: beam | likelihood_field. |
Documentation:
| Attribute Name | Attribute Type | Attribute Value | Attribute Description |
|---|---|---|---|
| alpha1 | Double | 0.2 | Drift parameter/odometry error. |
| alpha2 | Double | 0.2 | Drift parameter/odometry error. |
| alpha3 | Double | 0.8 | Drift parameter/odometry error. |
| alpha4 | Double | 0.2 | Drift parameter/odometry error. |
| alpha5 | Double | 0.2 | Drift parameter/odometry error. |
| odom_model_type | String | "omni" | Specifies type of odometry. Values: diff | omni. |
Documentation:
| Attribute Name | Attribute Type | Attribute Value | Attribute Description |
|---|---|---|---|
| distance_variance | Double | 0.0069 | |
| orientation_variance | Double | 0.0076 |
Documentation:
| Attribute Name | Attribute Type | Attribute Value | Attribute Description |
|---|---|---|---|
| initalizationType | InlineEnumeration | INI_POSE | |
| initPoseFileName | String | "/tmp/lastRobotPose.txt" | |
| verbose | Boolean | false | Print debug messages. |
| connect_services | Boolean | true | UNUSED. |
| yaml_file | String | "data/maps/amcl-c26.yaml" | Load map and parameters from this file. |
| initial_x | Double | 0.0 | x value [m] of initial pose for Amcl. See also parameters. |
| initial_y | Double | 0.0 | y value [m] of initial pose for Amcl. See also parameters. |
| initial_a | Double | 0.0 | alpha/rotation [rad] of initial pose for Amcl. See also parameters. |
| initial_cov_xx | Double | 0.03 | Initial pose covariance x. See also parameters. |
| initial_cov_yy | Double | 0.03 | Initial pose covariance y. See also parameters. |
| initial_cov_aa | Double | 0.068539 | Initial pose covariance alpha. See also parameters. |
| enable_visualization | Boolean | false | Show visualization window. Displays particles in map. WARNING: visualization might fail with X windows forwarding |
| lostEventMaxHypothese | UInt32 | 3 | |
| lostEventMaxEigValueSum | Double | 0.2 | |
| tag_file | String | "tags.json" | Json file with tag positions info |
| sensors_to_use | UInt16 | 0 | which sensors to be used for localization, 0 : Laser Only, 1 : Laser + Visual tags, 2: Visual tags |
Property: active = false
Documentation:
Set the initial pose in normal distribution. ?x = x coordinate [m], ?y = y coordinate [m], ?a = rotation in [rad].
Property: active = false
Documentation:
Initializes the Amcl, particles equally distributed.
Property: active = false
Documentation: