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Is there a technical description of nav2d packages ?

asked 2016-02-04 03:39:55 -0500

RosUser gravatar image

Hi I'm studyng on a project that is related to nav2d tutorials, and I want to understand the code for navigator.cpp (RobotNavigator.cpp) and LocalizerNode (selfLocalizer).

I can see the node connection to each other in rqt graph but is there a book, link that describe the codes in Block Diagram or Flow Chart how these two are designed theoretically ?

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answered 2016-02-04 09:08:10 -0500

Sebastian Kasperski gravatar image

The LocalizerNode is just a wrapper around the particle filter used in amcl. You can check the documentation there, and there is also a lot of literature on localization methods, likely the best being Probabilistic Robotics.

To understand how the rest of nav2d works, please refer to the Tutorials and the API-Documentation.

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I have this book already and trying to understand Particle filter. I have been through the tutorials that was for more understand of launch files. But I did not know about amcl, Thanks :)

RosUser gravatar image RosUser  ( 2016-02-05 07:45:11 -0500 )edit

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Asked: 2016-02-04 03:39:55 -0500

Seen: 266 times

Last updated: Feb 04 '16