How does first robot gets automatically localized?

I was reading the tutorial on nav_2d at http://wiki.ros.org/nav2d/Tutorials/DistributedMapping. But, I am confused as in the explained scenario, the first robot gets automatically localized and only for the second robot a particle filter is used for localization.

Please find the screenshot of the paragraph below. Can anyone please help me explain, how is the first robot getting localized here?

image description

Thanks!

Asked by robo_explorer on 2016-05-21 19:14:58 UTC

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I'm not very familiar with nav2d, but from reading the tutorial it seems like the first robot is creating the map, and therefore it is localized by definition.

Asked by ahendrix on 2016-05-22 18:19:52 UTC

How does first robot gets automatically localized?

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