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Overview

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Shows Beluga logo. Shows Beluga logo.

CI pipeline codecov pre-commit License Apache-2.0

Overview#

Beluga is an open source toolkit for Monte Carlo Localization (MCL), with a strong focus on code quality and performance.

Short video of Andino running Beluga.

Beluga AMCL running on an Andino 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 1 Noetic Ninjemys logo

ROS 2 Humble Hawksbill

ROS 2 Humble Hawksbill logo

ROS 2 Iron Irwini

ROS 2 Iron Irwini logo

ROS 2 Rolling Ridley

ROS 2 Rolling Ridley logo

See REP-0003 and REP-2000 for further reference on target platforms and support timelines.

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