Introduction to the Remo robot – a DIY autonomous mobile robot

In Chapter 6, Using the ROS MoveIt! and Navigation Stack, we discussed some mandatory requirements for interfacing a mobile robot with the ROS Navigation Stack. These are recalled at http://wiki.ros.org/navigation/Tutorials/RobotSetup:

• Odometry source: The robot should publish its odometry/position data with respect to the starting position. The necessary hardware components that provide odometry information are wheel encoders and IMUs, The necessary hardware components that provide odometry information are wheel encoders or inertial measurement units (IMUs).
• Sensor source: There should be a laser scanner or a vision sensor. The laser scanner data is essential for the map-building process using SLAM.
• Sensor transform using tf: The robot should publish the transform of the sensors and other robot components using ROS transform.
• Base controller: A ROS node, which can convert a twist message from...