In Chapter 3, Modeling a Differential Robot Using ROS and URDF, we looked at the ChefBot chassis design. In this chapter, we will learn how to assemble this robot using those parts. We will also look at the final interfacing of the sensors and other electronic components of this robot with Tiva-C LaunchPad. After the interfacing, we will learn how to interface the robot with the PC and implement autonomous navigation using SLAM and AMCL in the real robot.
The following topics will be covered in this chapter:
- Building ChefBot hardware
- Configuring the ChefBot PC and packages
- Interfacing the ChefBot sensors with Tiva-C Launchpad
- Embedded code for ChefBot
- Understanding ChefBot ROS packages
- Implementing SLAM on ChefBot
- Autonomous navigation in ChefBot
