Dear Community,
I present you the paper just accepted at Journal of Field Robotics: “Open Source Robot Localization for Non-Planar Environments”(repo).
This is one of the works about providing Nav2 to navigate non-planar/outdoor environments. We have an extended map server that serves OccupancyGrid, gridmap and octomap. The next steps include developing planners and controllers for maps with elevation.
This is the evolution to a non-planar indoor/outdoor environment, with a single hypothesis, of the localization method Portable Multi-Hypothesis Monte Carlo Localization for Mobile Robots (repo) for 2D environments.
I hope you like it
Francisco