mushr_pf: Particle Filter

Particle filter (pf) for localization using the laser scanner. The pf requires a map and laser scan.

Authors: Lirui Wang Joseph Shieh Chi-Heng Hung Nansong Yi

Install

Note: If you are not using the default MuSHR image then you will need to install rangelibc.

Clone repo: cd ~/catkin_ws/src/ && git clone git@github.com:prl-mushr/mushr_pf.git

Running the PF

For real car: roslaunch mushr_pf real.launch
For sim: roslaunch mushr_pf sim.launch

See this tutorial for more information.

API

Parameters can be changed in config/params.yaml

Publishers

Topic	Type	Description
/car/pf/inferred_pose	geometry_msgs/PoseStamped	Particle filter pose estimate
/car/pf/viz/particles	geometry_msgs/PoseArray	Partilcle array. Good for debugging
/car/pf/viz/laserpose	geometry_msgs/PoseArray	Pose fo the laser

Subscribers

Topic	Type	Description
/map	nav_msgs/OccupancyGrid	Map the robot is in
/car/scan	sensor_msgs/LaserScan	Current laserscan
/car/vesc/sensors/servo_position_command	std_msgs/Float64	Current steering angle
/car/vesc/sensors/core	vesc_msgs/VescStateStamped	Current speed