Hands-On ROS for Robotics Programming

Building a map of the environment

First, let's consider a physical environment that's simple enough for our learning purposes. This can be seen in the following photograph:

Be aware that this almost-square space has three limiting sides and one step that cannot be detected by the laser sensor because it is below the floor level of the robot.

Going to ROS, the first step consists of mapping the environment so that the robot can localize its surroundings and navigate around it. Follow these steps:

1. Launch all the ROS nodes in the robot. From a remote Terminal connected to the Raspberry Pi, this means running the ROS launch files that control ...