Navigation stack - FontysAtWork/ESA-PROJ GitHub Wiki

We used the ROS Navigation Stack as the base of our ROS application. It takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to the mobile base. This all revolves around the Move base part of the application.

If you need a startingpoint for understanding the workings of the ROS navigation stack we'd recommend looking at the provided tutorials on the ROS Navigation Stack page.

• TF structure
  • Move base
    • Local Planner
    • Global Planner
    • Move Base config
    • Costmaps
    • Recovery behaviour
  • Sensors
    • LiDARs
    • IMU
    • Odometry
  • Map Server
  • Gmapping SLAM (creating the map)
  • AMCL
  • Joystick teleop
  • Base controller
    • Generic part
    • Youbot-specific part