Revision history [back]

Regarding your first question, if you have a changing or dynamic environment, SLAM_toolbox is the way to go! As it is demonstrated here: SLAM_toolbox performs way better than AMCL (achieving twice better accuracy). In the comparison, also Cartographer and GMCL are included!

Be aware that the comparison was made with a based map that only contains the permanent structures of the building. If you have a good quality map (e.g. from a Floor plan or architectonical model), you can use this tool to create a serialized .posegraph map and use it for localization with SLAM_toolbox!