Chapter 11: 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 in ROS using ROS Control. 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 with ROS. In this chapter, we are going to cover the following main topics:
- Introduction to the Remo robot – a DIY autonomous mobile robot
- Developing a low-level controller and a high-level ROS Control hardware interface ...
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