Particle Filter Localization

Particle filter-based localization in an occupancy grid map.

For details, please refer to：https://zhuanlan.zhihu.com/p/43523632

Dataset：https://pan.baidu.com/s/1j_SSEtaq7D0XwaED0Jg4Ew

Demo

STEP1. Download the repository to your ROS workspace：catkin_ws/src

STEP2. Make：catkin_make

STEP3. Run: roslaunch particle_filter_localization pf_localization.launch

STEP4. Play a rosbag: rosbag play laser1_2018-07-14-17-31-41.bag -r 2