Mastering ROS for Robotics Programming - Second Edition

Configuring the Navigation stack for Chefbot

After setting the odometry nodes, the base controller node, and the PID nodes, we need to configure the Navigation stack to perform SLAM and Adaptive Monte Carlo Localization (AMCL) for building the map, localizing the robot, and performing autonomous navigation. In Chapter 6, Using the ROS MoveIt! and Navigation Stack, we have seen the basic packages in the Navigation stack. To build the map of the environment, we need to configure mainly two nodes: the gmapping node for performing SLAM and the move_base node. We also need to configure the global planner, the local planner, the global cost map, and the local cost map inside the Navigation stack. Let's look at the configuration of the gmapping ...