At the end of this chapter, you should have a robot—simulated or real—moving autonomously through the map (which models the environment), using the navigation stack. You can program the control and the localization of the robot by following the ROS philosophy of code reusability, so that you can have the robot completely configured without much effort. The most difficult part of this chapter is to understand all the parameters and learn how to use each one of them appropriately. The correct use of them will determine whether your robot works fine or not; for this reason, you must practice changing the parameters and look for the reaction of the robot.

In the next chapter, you will learn how to use MoveIt! with some tutorials and examples. If you don't know what MoveIt! is, it is a software for building mobile manipulation applications. With it, you can move your articulated robot in an easy way.