February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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Navigating GoPiGo3 in the real world
This second part requires that you stop all ROS processes on the laptop, but not necessarily on GoPiGo3. Remember that, in the robot, you have the minimum ROS configuration so that the robot is able to perceive the environment (LDS X4 sensor) and move around (drives). All the remaining logic for navigation will run in the laptop. Hence, close any open Terminals in your PC and start the new phase by following these steps:
- Launch the ROS nodes in the robot if you stopped the Terminal previously:
r1 $ roslaunch ydlidar gopigo3_ydlidar.launch- Launch the AMCL navigation by providing the cost map that the robot built previously. To do so, you have to reference the .yaml map file you created previously. ...