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Mastering ROS for Robotics Programming by Lentin Joseph

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Chapter 9. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

In the previous chapter, we have discussed about robotic vision using ROS. In this chapter, we can see discuss how to build an autonomous mobile robot hardware with differential drive configuration and how to interface it into ROS. We will see how to configure ROS Navigation stack for this robot and perform SLAM and AMCL to move the robot autonomously. This chapter aims to give you an idea about building a custom mobile robot and interfacing it on ROS.

You will see the following topics in this chapter:

  • Introduction to Chefbot: a DIY autonomous mobile robot
  • Flashing Chefbot firmware using Energia IDE
  • Discussing Chefbot interface package in ROS
  • Developing base controller ...

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