amcl

Introduction

This is a CUDA implementation of ROS amcl package.
And, this repogitory was derived from https://github.com/ros-planning/navigation/tree/54e770f681ae392a2c5fc5ed2af56ad6ee1f694b/amcl.

The amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map.

Requirements

• CUDA ToolKit

Preparation

Please specify appropriate arch and code for your GPU in CMakeLists.txt.
You can find information in https://developer.nvidia.com/cuda-gpus.
An example for GeForce GTX 1060(Compute Capability is 6.1) is shown below.

set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS};-gencode arch=compute_61,code=sm_61")

Build Instructions

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/atinfinity/amcl.git
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash