Hands-On ROS for Robotics Programming

Technical requirements

In this chapter, we will make use of the code located in the Chapter9_GoPiGo_SLAM folder (https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming/tree/master/Chapter9_GoPiGo_SLAM). Copy its files to the ROS workspace so that they're available and leave the rest outside the src folder. This way, you will have a cleaner ROS environment:

$ cp -R ~/Hands-On-ROS-for-Robotics-Programming/Chapter9_GoPiGo_SLAM ~/catkin_ws/src/

The code in the aforementioned folder contains two new ROS packages, each one located within a folder that has the same name:

• ydlidar, the officially supported ROS package for the selected LDS.
• gopigo3_navigation, the top-level package for performing navigation with GoPiGo3.

You will ...