As a part of my master thesis, I have developed a new package for mobile robot localization - which can replace the amcl in Navigation stack - called general monte carlo localization (gmcl)…you could find more details in the Wiki-page gmcl - ROS Wiki …This package was tested on Turtlebot3 in Gazebo simulator…results showed superiority of gmcl over amcl. You could find results, performance and complexity analysis of amcl & gmcl in paper
(PDF) 📄 gmcl As a Proposed Replacement to amcl in ROS for Mobile Robots Localization in Known-Based 2D Environments
I hope you consider this package in the upcoming ROS releases…Moreover, I am still missing some feedback from the community about any trouble that might encounter ROS users… so please when you have time, try the package.
The package is running now on noetic-release…I would import it to ROS2 when it gets more popular.
Thanks upfront for any feedback