localization-recovery
CommunityKeep localization reliable when AMCL diverges.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Localization failures in AMCL can cause pose jumps, map-odom inconsistencies, and navigation breakdowns. This Skill provides strategies to detect degradation, perform global relocalization, and recover the robot's pose to re-establish accurate localization.
Core Features & Use Cases
- Global relocalization via the /reinitialize_global_localization service and particle re-seeding to re-converge on the map.
- Manual initial pose correction using RViz' 2D Pose Estimate or by publishing to /initialpose for immediate pose reset.
- Automated recovery workflows through covariance monitoring of /amcl_pose, optional particle-count tuning, and BT-based integration for safe, repeatable recovery.
- Pose persistence across reboots to avoid cold-start localization when the robot hasn't moved.
Quick Start
Trigger global relocalization when AMCL covariance indicates high uncertainty, then verify convergence by moving the robot to collect diverse scans.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: localization-recovery Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#localization-recovery Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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