ROS Navigation: Concepts and Tutorial
ROS Navigation: Concepts and Tutorial
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DOI：
10.1007/978-3-319-26054-9_6
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发表时间：
2016-01-01
期刊：
影响因子：
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通讯作者：
Brenner, Vinicius Amilgar
中科院分区：
文献类型：
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作者：
Guimaraes, Rodrigo Longhi;de Oliveira, Andre Schneider;Brenner, Vinicius Amilgar
本教程旨在教授主要的理论概念，并解释ROS导航堆栈的使用。这是路径规划和同步定位与映射（SLAM）的强大工具箱，但由于缺乏对相关概念的理解，其应用并不简单。本章将介绍这个堆栈中的理论，并以一种简单的方式解释如何在任何机器人中执行SLAM。一步一步的指南，示例代码解释（一行一行）和真实的机器人测试将提供。我们将介绍必要条件和操作方法，使读者能够设置里程表，建立参考框架及其转换，配置感知传感器，调整导航控制器并规划自己的虚拟或真实机器人的路径。
This tutorial chapter aims to teach the main theoretical concepts and explain the use of ROS Navigation Stack. This is a powerful toolbox to path planning and Simultaneous Localization And Mapping (SLAM) but its application is not trivial due to lack of comprehension of the related concepts. This chapter will present the theory inside this stack and explain in an easy way how to perform SLAM in any robot. Step by step guides, example codes explained (line by line) and also real robot testing will be available. We will present the requisites and the how-to's that will make the readers able to set the odometry, establish reference frames and its transformations, configure perception sensors, tune the navigation controllers and plan the path on their own virtual or real robots.