Configuring and working with the Navigation Stack
After creating the hardware interface and low-level controller, we need to configure the Navigation Stack to perform SLAM and Adaptive Monte Carlo Localization (AMCL) to build the map, localize the robot, and perform autonomous navigation. In Chapter 6, Using the ROS MoveIt! and Navigation Stack, we saw the basic packages in the Navigation Stack. To build the map of the environment, we will configure gmapping and move_base, together with the global and local planners and global and local cost maps. To perform localization, we will configure the amcl node. We start with the gmapping node.
Configuring the gmapping node and creating a map
gmapping is the package to perform SLAM (http://wiki.ros.org/gmapping). Remo's gmapping node parameters are in diffbot_slam/config/gmapping_params.yaml and loaded with diffbot_slam/launch/diffbot_gmapping.launch. By fine-tuning the parameters, we improve the accuracy of the gmapping node. For...
