In this chapter, we will discuss the calibration and testing of ChefBot that is necessary before deploying the robot in the work place. The testing can be done using the GUI that we built in the previous chapter. Before the test run, we can calibrate the sensors and address the issues in the ChefBot hardware and software. In the testing procedure, we can build a map of a hotel kind of arrangement and navigate on the map using ROS on ChefBot. We can also see ways to improve accuracy and upgrade the ChefBot prototype in future.

First, we will look at the calibration of sensors such as Kinect, Quadrature encoder, and IMU to improve the accuracy of the robot.