Chapters
- Introduction
- Describing ROS Robot with URDF
- Simple Navigation with Differential Drive Plugin
- Creating Map using Laser Scanner
- Configuring SLAM Planners
- Sending Goals for Autonomous Navigation
About the Book
In a nutshell, by end of this book, you will be able to model a simple differential drive robot from scratch and configure it to navigate autonomously in a given custom simulation environment. Nothing more, nothing less!
Here are some of the questions this book tries of answer:-
- How to configure ROS Navigation Stack components?
- How to send high-level navigation goals to robot?
- How to implement obstacle avoidance robot navigation in Gazebo & rviz?
- How to integrate Gazebo sensor models with ROS?
- How to use SLAM for autonomous navigation?
Intended Audience
This book is for basic to intermediate users of Robot Operating System (ROS) who are still trying to figure out how ROS Navigation/SLAM works. This book is an introduction neither to ROS nor BeagleBone Black. You are expected to know a few ROS concepts such as Launch commands, Nodes, Topics, Messages, TF, components of Navigation Stack. Please take time to brush up your basics before proceeding.
Prerequisites
A workstation with Ubuntu 16.04 with ROS Kinetic Desktop Full and related ROS Gazebo packages installed. Basic Python programming.
Updates to the Book
I’ll release new sections and chapters of this book as I finalize them. So, the content of the book is not set in stone from the beginning. I may provide useful and interesting bonus & updated material from time to time. So, do come back and check out this page frequently.
Your Feedback is Important
Please let me know if this book helps you learn new stuff. Also, point out any mistakes you may find so that it benefits all of us. Your feedback will motivate me to write more!
