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First results from my work on the YouBot - Localization based on lidar and wheel encoders. My algo is still over-confident, and I need to improve it. But just getting all this shit to work together in ROS was so hard...
For now it's in Python, but when I am sure of its correctness I re-write it in C++ and ROS2-compatible

https://youtube.com/watch/...

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  • 2
    This is great. 😍
    I didn’t realise I spent more than an hour reading all about this after watching the video.
  • 1
    @-red I finally got it to be stable today :) I recommend the book Probabilistic Robotics as an intro to MCL and generally robot perception.
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