ROS Navigation: Concepts and Tutorial
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.