Mastering ROS for Robotics Programming - Second Edition

ROS Navigation hardware requirements

The ROS Navigation stack is designed as generic. There are some hardware requirements that should be satisfied by the robot. The following are the requirements:

• The Navigation package will work better in differential drive and holonomic (total DOF of robot equals to controllable DOF of robots). Also, the mobile robot should be controlled by sending velocity commands in the form of: x: velocity, y: velocity (linear velocity), and theta: velocity (angular velocity).
• The robot should be equipped with a vision (rgb-d) or laser sensor to build the map of the environment.
• The Navigation stack will perform better for square and circular shaped mobile bases. It will work on an arbitrary shape, but performance ...