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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Chapter 5. The Navigation Stack – Robot Setups

In the previous chapters, we have seen how to create our robot, mount some sensors and actuators, and move it through the virtual world using a joystick or the keyboard. In this chapter, you will learn what is probably one of the most powerful features in ROS, something that will let you move your robot autonomously.

Thanks to the community and the shared code, ROS has many algorithms that can be used for navigation.

First of all, in this chapter, you will learn all the necessary ways to configure the navigation stack with your robot. In the next chapter, you will learn how to configure and launch the navigation stack on the simulated robot, giving goals and configuring some parameters to get the best ...

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