In the previous chapter, we have discussed about robotic vision using ROS. In this chapter, we can see discuss how to build an autonomous mobile robot hardware with differential drive configuration and how to interface it into ROS. We will see how to configure 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.
You will see the following topics in this chapter:
Introduction to Chefbot: a DIY autonomous mobile robot
Flashing Chefbot firmware using Energia IDE
Discussing Chefbot interface package in ROS
Developing base controller and odometry node for Chefbot in ROS
Configuring Navigation stack for Chefbot
Understanding AMCL
Understanding RViz for working with Navigation stack
Obstacle avoidance using Navigation stack
Working with Chefbot simulation
Sending a goal to the Navigation...