nahueespinosa / beluga

A general MCL solution for ROS 2.

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Tip

For the latest stable version of our codebase, please refer to the release branch. If you are interested in ongoing development and cutting-edge features, the main branch is the place to be.

🌐 Overview

Beluga is an extensible C++17 library with a ground-up implementation of the Monte Carlo Localization (MCL) family of estimation algorithms featuring:

• A modular design based on orthogonal components.
• Emphasis on the prevention of regressions and facilitation of code improvements through test coverage.
• Semi-automated benchmarks that can be used to validate different configurations.

beluga_andino_demo.mp4

Beluga AMCL running on an Andino robot (Raspberry Pi 4B), go to Ekumen-OS/andino for more details!

📦 Packages

This repository contains the following packages:

Package	Description
beluga	A ROS-agnostic extensible library to implement algorithms based on particle filters.
beluga_ros	A ROS library, providing utilities to interface ROS with Beluga.
beluga_amcl	A ROS wrapper, providing an executable node and component (or nodelet). It provides interface parity with nav2_amcl (and amcl).
beluga_example	Example launch files, showing how to run Beluga-based nodes.
beluga_benchmark	Scripts to benchmark, profile and also compare Beluga with other MCL implementations.
beluga_system_tests	System integration tests for Beluga.

⚙️ First Steps

• Go check the project documentation.
• Read the contributing guidelines.