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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

The mobile robot must satisfy a few requirements before it can be used with the navigation stack:

  • The navigation stack can only support a differential drive and holonomic-wheeled robot.
  • The shape of the robot must either be a square or a rectangle.
  • The robot must provide information about positions of all the joints and sensors and the relationship between their coordinates frames.
  • The robot must, at the very least, have a range sensor or similar such as a planar laser or a sonar. However, depth sensors can also be projected as ranger sensors before using them with the stack.

The following diagram shows the architecture of navigation stacks, which have three groups of boxes: gray, white, and dotted lines. The plain white boxes ...

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