In this chapter, we will discuss the design and workings of ChefBot hardware and look at a selection of its hardware components. In the previous chapter, we designed and simulated the basic robot framework in a hotel environment using Gazebo and ROS, and tested a few variables, such as the robot body mass, motor torque, wheel diameter, and more. We also tested the autonomous navigation capability of ChefBot in a hotel environment.
To achieve this using hardware, we need to select all the hardware components and figure out how to connect all these components. We know that the main functionality of this robot is navigation: this robot will have the ability to navigate from a start position to an end position without any collision with its surroundings. We will discuss the different sensors and hardware components required to achieve this goal...