This is a particle filter to implement robot localization and solve kidnapped robot problem.

Building Package:

• Move package to your colcon workspace (src directory)

• Rebuild colcon workspace

    colcon build    # ----- run from root directory of your colcon workspace
  

Running the node:

The localisation node can be tested in the Stage simulator.

    ros2 run nav2_lifecycle_manager lifecycle_manager --ros-args -p node_names:=[map_server] -p autostart:=true
    ros2 run nav2_map_server map_server --ros-args -p yaml_filename:=<path_to_map_file>
    ros2 run stage_ros2 stage_ros2 --ros-args -p world_file:=./src/socspioneer/data/meeting.world
    ros2 launch socspioneer keyboard_teleop.launch.py  # ---- run only if you want to move robot using keyboard 
    ros2 run pf_localisation node.py    

For the node to start publishing you must set an initial pose estimate, for example, through RViz2.

Published Topics:

Running the node successfully will publish the following topics:

• /amcl_pose
• /estimatedpose
• /particlecloud

All of these can be visualised in RViz by adding the appropriate Views.