You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Configuring and working with the Navigation Stack

After creating the hardware interface and low-level controller, we need to configure the Navigation Stack to perform SLAM and Adaptive Monte Carlo Localization (AMCL) to build the map, localize the robot, and perform autonomous navigation. In Chapter 6, Using the ROS MoveIt! and Navigation Stack, we saw the basic packages in the Navigation Stack. To build the map of the environment, we will configure gmapping and move_base, together with the global and local planners and global and local cost maps. To perform localization, we will configure the amcl node. We start with the gmapping node.

Configuring the gmapping node and creating a map

gmapping is the package to perform SLAM (http://wiki.ros.org/gmapping). Remo's gmapping node parameters are in diffbot_slam/config/gmapping_params.yaml and loaded with diffbot_slam/launch/diffbot_gmapping.launch. By fine-tuning the parameters, we improve the accuracy of the gmapping node. For...

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Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

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