fgs_bayesian_filter

A package that provide samples attempting localization based on bayesian filters.

Implemented bayesian filters

• Gaussian Filters

  • Extended Kalman Filter

  • Enscented Kalman Filter

• Non-parametric Filters

  • Particle Filter

My environment

• OS: MacOS Catalina 10.15
• ROS2 dashing diademata (20190531)

How to use

• As ROS2

  ros2 run fgs_bayesian_filter start __params:=ROS_PARAMS.yaml

  sample of ROS_PARAMS.yaml is following. PATH_TO_THIS_PKG is depends on your location of this package.

  estimated_state_publisher:
    ros__parameters:
      config_path: "PATH_TO_THIS_PKG/config/bayesian_filter.yaml"

• As python3 script

  cd PATH_TO_THIS_PKG
  ./fgs_bayesian_filter/entry_point.py config/bayesian_filter.yaml

• Blue arrows are groundtruth.
• Red arrows are dead-reckoning(only odometry).
• Green arrows are poses estimated by Bayesian Filter.

Special Thanks

• 確率ロボティクス

• PythonRobotics

  The MIT License (MIT)
  
  Copyright (c) 2016 Atsushi Sakai
  
  Permission is hereby granted, free of charge, to any person obtaining a copy
  of this software and associated documentation files (the "Software"), to deal
  in the Software without restriction, including without limitation the rights
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  The above copyright notice and this permission notice shall be included in all
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  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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