Collaboration diagram for localize:
Detailed DescriptionMulti-hypothesis planar localization system.
localize interface provides pose information for the robot. Generally speaking, localization drivers will estimate the pose of the robot by comparing observed sensor readings against a pre-defined map of the environment. See, for the example, the amcl driver, which implements a probabilistic Monte-Carlo localization algorithm.
|Data subtype: pose hypotheses. |
|Request/reply subtype: set pose hypothesis. |
|Request/reply subtype: get particle set. |
|Hypothesis format. |
|Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS). |
|Request/reply: Set the robot pose estimate. |
|A particle. |
|Request/reply: Get particles. |
Data: hypotheses (PLAYER_LOCALIZE_DATA_HYPOTHS).
localize interface returns a data packet containing an an array of hypotheses.
Request/reply: Get particles.
To get (usually a subset of) the current particle set (assuming the underlying driver uses a particle filter), send a null PLAYER_LOCALIZE_REQ_GET_PARTICLES request.
Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely spaced locations), the
localize interface is capable of returning more that one hypothesis.
Request/reply: Set the robot pose estimate.
Set the current robot pose hypothesis by sending a PLAYER_LOCALIZE_REQ_SET_POSE request. Null response.