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Robot Operating System Cookbook by Kumar Bipin

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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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