Localization with the given map based

asked 2020-12-15 03:18:13 -0500

kane_choigo gravatar image

updated 2020-12-15 03:31:40 -0500

Hello, I'm working with ROS kinetic on Ubuntu 16.04.

About robot localization with 2D laser, I think there would be many other ways to localization for an agent robot.

The one I'd like to do is a 'given map-based localization' for the robustness like the AMCL.

However, I can't use it because of some reasons(I definitely can use it, although.), so need to get another localization, not based on the particle filter.

I've tried to look for that kind of localization, but I couldn't find it.

Someone told me I could use ICP based localization of scan matching, but I think it is a tool for making a map, in my understanding; I need localization which tells me where the robot is in real-time.

If anyone is familiar with this kind of API of scan-matching localization, would you please give me helpful advice?

Thanks in advance. :)

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