Hands-On ROS for Robotics Programming

The navigation process

Once your robot has generated a map, it will use it to plan a path to a given target destination. The process of executing such a plan is called navigation, and involves the following steps:

1. Launch the robot model within the modeled environment. This step is the same as the first step in the SLAM process described earlier.
2. Provide the costmap that the robot built before. Bear in mind that the map is a characteristic of the environment, not of the robot. Hence, you can build the map with one robot and use the same map in navigation for any other robot you put in the same environment.
3. Set up the navigation algorithm. We will use the Adaptive Monte Carlo Localization (AMCL) algorithm, the most common choice for effective ...