In the previous chapter, we discussed robotic vision using ROS. In this chapter, we will see how to build autonomous mobile robot hardware with a differential drive configuration and how to interface it into ROS. We will see how to configure the ROS Navigation stack for this robot and perform SLAM and AMCL to move the robot autonomously. This chapter aims to give you an idea about building a custom mobile robot and interfacing it on ROS. We will cover the following topics in this chapter:
- Introduction to Chefbot a DIY autonomous mobile robot
- Developing base controller and odometry nodes for Chefbot in ROS
- Configuring the Navigation stack for Chefbot and understanding AMCL
- Working with the Chefbot simulation
- Interacting with the Navigation stack with a ROS node
The first topic we are going to discuss in this chapter is how to build a DIY (Do It Yourself) autonomous mobile robot, develop its firmware, and interface...