ROS_Navigation专题1 - Introduction and Learning

ROS_Navigation专题1 - Introduction and Learning Resources

  Before going further, it is highly recommended that the reader check out the NavigationRobot Setup tutorial on the ROS Wiki.
  This tutorial provides an excellent overview of the ROS navigation stack.
  For an even better understanding, check out all of the Navigation Tutorials.
  And for a superb introduction to the mathematics underlying SLAM, check out Sebastian Thrun's onlineArtificial Intelligence course on Udacity.

  If you own a TurtleBot, you might want to skip directly to the TurtleBot SLAM tutorial on the ROS Wiki.
  Another affordable SLAM robot is the Neato XV-11 vacuum cleaner which includes a 360-degree laser scanner. In fact, you can run the complete Navigation Stack using the XV-11 thanks to the neato_robot ROS stack by Michael Ferguson.

In this special subject, we will cover the three essential ROS packages that make up the core of the Navigation Stack:

• • move_base for moving the robot to a goal pose within a given reference frame
• • gmapping for creating a map from laser scan data (or simulated laser data from a depth camera)
• • amcl for localization using an existing map

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In this case, I fell that starting from ROS  Navigation Tutorials could be a better way to learn.
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So I will follow the outline below:

1. Navigation is an ROS stack named as "Navigation"

   It contains packages listed as below:
   amcl*
   base_local_planner
   carrot_planner
   clear_costmap_recovery
   costmap_2d
   dwa_local_planner
   fake_localization
   global_planner
   map_server*
   move_base*
   move_base_msgs
   move_slow_and_clear
 &nbs