Robot Operating System Ros Tutorial (13) navigation and positioning framework

Navigation and positioning are important parts of robot research.

In a strange environment, a general robot needs to use a laser sensor (or a depth sensor to convert to a laser data), map modeling, and then navigate and locate it according to the established map. There are also many good packages in Ros that can be used directly.

In Ros, the three packages to be used for navigation are:

(1) Move_base: According to the information of the path planning, so that mobile robot to reach the designated location;

(2) Gmapping: Build maps based on laser data (or laser data simulated by depth data);

(3) AMCL: According to the existing map to locate.

Reference Link: http://www.ros.org/wiki/navigation/Tutorials/RobotSetup

Http://www.ros.org/wiki/navigation/Tutorials

The overall navigation package pattern is shown in the following illustration:

In the white box is the component that Ros has already prepared for us, the gray box is the optional component of Ros, and the blue is the component on the robotic platform that the user needs to provide.