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Looking for a Beginners Guide to Navigation Stack and SLAM with Gazebo

asked 2019-05-22 11:46:28 -0500

Aba gravatar image

As an undergrad working on SLAM algorithms, I'm looking for a step-by-step introduction to ROS navigation stack and gazebo. I am thinking of creating a simple box with a horizontal LiDAR array attached, that can be moved around in a maze-like world by keyboard controls whole doing occupancy grid mapping. Later on, I am planning to tweak the algorithms and number of sensors.

I am familiar with ROS: creating nodes, publishing messages in both C++ and Python. But I have never used packages such as tf, gmapping and amcl. I want to gain experience and insight on how to use them

Any resources you can point me to would help a lot. Thank you.

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jayess gravatar image jayess  ( 2019-05-23 23:46:40 -0500 )edit

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answered 2019-05-22 13:25:05 -0500

jayess gravatar image

For tf, you can use the tf tutorials on the wiki and for the navigation stack, you can use the navigation tutorials, also on the wiki.

Some example code is found on the wiki as well.

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Asked: 2019-05-22 11:45:53 -0500

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Last updated: May 22 '19