amcl_3d

3D AMCL (Adaptive Monte Carlo Localization) for ROS 2 Jazzy.

Evaluation Results

short_test (267 s, indoor)

Metric	Value
Odom trajectory length	15.8 m
Mean XY error	3.37 m
XY RMSE	3.75 m
Max XY error	6.92 m
End-point XY error	2.93 m

Kinematic-ICP Husky (122 s, outdoor)

Metric	Value
Odom trajectory length	83.5 m
Mean XY error	19.74 m
XY RMSE	23.10 m
Max XY error	39.13 m
End-point XY error	7.28 m

Quick Start

• Build / run instructions: src/amcl_3d/README.md

Evaluation

# Run automated evaluation (launches amcl_3d, plays bag, generates plots)
./scripts/run_evaluation.sh short_test
./scripts/run_evaluation.sh husky

• Evaluation script: scripts/run_evaluation.sh
• Trajectory plot generator: reports/generate_trajectory.py

Branches

Branch	Description
main	ROS 2 Jazzy (active)
ros2	ROS 2 backup branch
ros1	ROS 1 version