Practicing navigation with GoPiGo3

In this section, we'll cover the steps that we followed in the Practising SLAM and navigation with GoPiGo3 section of the previous chapter by substituting the virtual robot and the Gazebo simulator with the actual GoPiGo3 and the physical environment, respectively.

Building a map of the environment

First, let's consider a physical environment that's simple enough for our learning purposes. This can be seen in the following photograph:

Be aware that this almost-square space has three limiting sides and one step that cannot be detected by the laser sensor because it is below the floor level of the robot.

Going to ROS, the first step consists of mapping the environment so that...