Overview#
Beluga is an open source toolkit for Monte Carlo Localization (MCL), with a strong focus on code quality and performance.
Beluga AMCL running on an Turtlebot 2 robot (Raspberry Pi 4B).#
Features#
Bootstrap particle filtering
Adaptive resampling policies
Motion models for wheeled robots
Sensor models for 2D rangers
ROS 1 and ROS 2 integration
Support#
Beluga is supported on a number of ROS 1 and ROS 2 distributions, primarily on Linux platforms:
ROS 1 Noetic Ninjemys
ROS 2 Humble Hawksbill
ROS 2 Iron Irwini
ROS 2 Jazzy Jalisco
See REP-0003 and REP-2000 for further reference on target platforms and support timelines.