Localization Metric

[David9696]

Hi,

Is there a way to check how well or how good the localisation via mrpt? Is there a way to detect lost?

Thanks.

David

[jlblancoc]

Hi @David9696 :

It's not implemented in the public ROS repo, but for the specific case of gridmap-based localization, one can use this:

• laserScanSimulatorWithUncertainty() from the mean pose of the PF in the map,
• Then evaluate the actual scan data vs. the returned scan+uncertainty using evaluateScanLikelihood().

If you test it, a pull-request would be more than welcome! ;-)