Hands-On ROS for Robotics Programming

Creating a navigation application in ROS

An application that provides a robot with navigation capabilities has to take into account the following points:

• Sensing: This provides us with the ability to acquire motion data so that the robot is able to estimate its position in real time. This kind of information is known as robot odometry. There are two main sources of sensor data: the encoders, which let us know the rotation of the robot wheels, and the IMU sensor, which provides acceleration and rotation information about the robot as a whole. Generally speaking, data from encoders is used the most, although it may be combined with IMU data to improve the accuracy of the pose estimation. This is an advanced topic called fusion sensor, which ...