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Mobile Robot in ROS

In this chapter, we will discuss the following recipes:

The navigation stack in ROS
Interfacing the mobile robot to the navigation stack
Creating a launch file for the navigation stack
Setting up RViz for the navigation stack – visualization
Robot localization – Adaptive Monte Carlo Localization (AMCL)
Configuring navigation stack parameters with rqt_reconfigure
Autonomous navigation of mobile robots – avoiding obstacles

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