In this chapter, we will make use of the code located in the Chapter9_GoPiGo_SLAM folder (https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming/tree/master/Chapter9_GoPiGo_SLAM). Copy its files to the ROS workspace so that they're available and leave the rest outside the src folder. This way, you will have a cleaner ROS environment:
$ cp -R ~/Hands-On-ROS-for-Robotics-Programming/Chapter9_GoPiGo_SLAM ~/catkin_ws/src/
The code in the aforementioned folder contains two new ROS packages, each one located within a folder that has the same name:
- ydlidar, the officially supported ROS package for the selected LDS.
- gopigo3_navigation, the top-level package for performing navigation with GoPiGo3.
You will use both on the laptop environment, but in the robot – that is, the Raspberry Pi – you will only need ydlidar since the...