particle filter for robot localization developed by Python programming language in a ROS melodic workspcace.
first of all add these in your ROS melodic or above workspace.
you can delete devel and build directories and enter catkin_make to make this application.
after that in a terminal enter:
roscore
then in a new terminal enter:
source devel/setup.bash
rosrun particle_filter particle.py
after a window containing robot, landmarks and particles appear, open a new terminal and enter codes below:
source devel/setup.bash
rosrun particle_filter move.py
now you can move the robot with arrow keys and see the convergence of particles to the robot position.