The navigation stack in ROS
The navigation stack in ROS consists of a set of algorithms that uses the sensors and the odometry information from a robot and provides the interface to control the robot using a standard message. The stack can move the robot autonomously in the environment, without crashing, getting stuck in a location, or getting lost elsewhere.
However, it is possible to integrate this stack with any mobile robot, but tuning a few of the configuration parameters is necessary, and this depends upon the robot's specification. Moreover, some of the interface nodes need to be developed so that we can use the stack efficiently.
Getting ready
The mobile robot must satisfy a few requirements before it can be used with the navigation stack:
- The navigation stack can only support a differential drive and holonomic-wheeled robot.
- The shape of the robot must either be a square or a rectangle.
- The robot must provide information about positions of all the joints and sensors and the relationship...
