AMCL Package

You learned about Monte Carlo Localization (MCL) in great detail in the previous lessons. Adaptive Monte Carlo Localization (AMCL) dynamically adjusts the number of particles over a period of time, as the robot navigates around in a map. This adaptive process offers a significant computational advantage over MCL.

The ROS AMCL package (http://wiki.ros.org/amcl) implements this variant and you will integrate this package with your robot to localize it inside the provided map.

As you have learned in the previous projects, ROS utilizes launch files to run ROS nodes. In the following concepts, you will start to build the launch file for the AMCL package!