Chapter 8, Building ChefBot Hardware and Integration of Software

1. It is a mediator program between robot low-level controller and high-level controller such as PC. It converts the low-level data into ROS equivalent data.
2. PID is a control loop feedback mechanism to reach a robot goal position by taking feedback of robot position.
3. Using encoder data, we can compute the distance traversed by the robot using robot kinematic equations. Those values are odometry data.
4. It is mainly using for mapping the environment.
5. It is mainly using for localizing the robot in a static map.