February 2018
Beginner
580 pages
13h 20m
English
Content preview from Mastering ROS for Robotics Programming - Second Edition
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Building and Interfacing Differential Drive Mobile Robot Hardware in ROS
In the previous chapter, we discussed robotic vision using ROS. In this chapter, we will see how to build autonomous mobile robot hardware with a differential drive configuration and how to interface it into ROS. We will see how to configure the 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. We will cover the following topics in this chapter:
- Introduction to Chefbot a DIY autonomous mobile robot
- Developing base controller and odometry nodes for Chefbot in ROS
- Configuring the Navigation stack for Chefbot and understanding ...