Introduction to Chefbot- a DIY mobile robot and its hardware configuration

The following are the mandatory requirements for interfacing a mobile robot with ROS navigation package:

  • Odometry source: Robot should publish its odometry/position data with respect to the starting position. The necessary hardware components that provide odometry information are wheel encoders, IMU, and 2D/3D cameras (visual odometry).
  • Sensor source: There should be a laser scanner or a 3D vision sensor sensor, which can act as a laser scanner. The laser scanner data is essential for map building process using SLAM.
  • Sensor transform using tf: The robot should publish the transform of the sensors and other robot components using ROS transform.
  • Base controller: The ...

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