STEPS TO FOLLOW

• MAPPING
• LOCALIZATION
• PATH FINDING
• OBSTACLE AVOIDANCE

ROS NAVIGATION STACK

SLAM

• FOR GMAPPING: PACKAGES RELATED TO GMAPPING HAVE ALREADY BEEN INSTALLED ON PC SETUP PAGE.
• FOR CARTOGRAPHER: SUDO APT-GET INSTALL ROS-KINETIC-CARTOGRAPHER ROS-KINETIC-CARTOGRAPHER-ROS ROS-KINETIC-CARTOGRAPHER-ROS-MSGS ROS-KINETIC-CARTOGRAPHER-RVIZ
• FOR HECTOR MAPPING: SUDO APT-GET INSTALL ROS-KINETIC-HECTOR-MAPPING
• FOR KARTO: SUDO APT-GET INSTALL ROS-KINETIC-SLAM-KARTO
• FOR FRONTIER EXPLORATION: FRONTIER EXPLORATION USES GMAPPING, AND THE FOLLOWING PACKAGES SHOULD BE INSTALLED. SUDO APT-GET INSTALL ROS-KINETIC-FRONTIER-EXPLORATION ROS-KINETIC-NAVIGATION-STAGE

PATHFINDING + OBSTACLE AVOIDANCE STEPS

• ODOMETRY TUNING
• LOCALIZATION TUNING
• THE COSTMAP TUNING
• THE LOCAL PLANNER TUNING

REFERENCES

• HTTP://WIKI.ROS.ORG/NAVIGATION
• HTTP://WIKI.ROS.ORG/COSTMAP_2D
• HTTP://WIKI.ROS.ORG/NAVIGATION/TUTORIALS/NAVIGATION%20TUNING%20GUIDE
• HTTP://KAIYUZHENG.ME/DOCUMENTS/NAVGUIDE.PDF
• HTTP://EMANUAL.ROBOTIS.COM/DOCS/EN/PLATFORM/TURTLEBOT3/OVERVIEW/#OVERVIEW
• PACKAGE CREATION
• LAUNCH FILE