Adaptive Monte Carlo Localization (AMCL) is a probabilistic localization module which estimates the position and orientation (i.e. Pose) of a robot in a given known map using a 2D laser scanner. This is largely a refactored port from ROS 1 without any algorithmic changes.

See the Configuration Guide Page for more details about configurable settings and their meanings.

Parameter note: <tt>random_seed</tt>

AMCL supports a random_seed parameter to control the particle filter RNG seeding.

• random_seed >= 0: seed the RNG with the provided value (repeatable runs).
• random_seed < 0 (default): seed the RNG from time (preserves historical behavior).