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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

In the best case, in an ideal world, just switching the simulation environment with an ROS node that communicates with the hardware will get real MAVs to perform high-level tasks such as autonomous navigation, including collision avoidance and path planning.

The simulator can be a great tool that enables the development of algorithms, to be deployed on a real MAV later. Then, the transition of the code from the simulator to the code running on the actual hardware will be as simple as possible, but only if the interface is designed in a way that mimics most of the interfaces on the real systems. Additionally, it is also necessary to incorporate real world uncertainty using a probabilistic approach. One of the major challenges ...

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