Learning Robotics using Python - Second Edition

Working with ROS localization and navigation

After building the map, close all the applications and rerun the robot driver using the following command:

    $ roslaunch ChefBot_bringup robot_standalone.launch

Start the localization and navigation on the stored map using the following command:

    $ roslaunch ChefBot_bringup amcl_demo.launch map_file:=~/test_map.yaml  

Start viewing the robot using the following command in the remote PC:

    $ roslaunch ChefBot_bringup view_navigation.launch  

In RViz, we may need to specify the initial pose of the robot using the 2D Pose Estimate button. We can change the robot pose on the map using this button. If the robot is able to access the map, then we can use the 2D Nav Goal button to command the robot to move ...