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Computer Science
Robotics
Robot Operating System (ROS)
1. Introduction to ROS
2. Installation and Environment Setup
3. ROS Filesystem Structure
4. Core ROS Concepts and Architecture
5. ROS Command-Line Tools
6. ROS Client Libraries and Programming
7. Creating and Building ROS Packages
8. Launch Files and System Configuration
9. Visualization and Debugging Tools
10. Coordinate Frames and Transformations
11. Robot Modeling and Description
12. Simulation and Testing
13. Navigation and Path Planning
14. Manipulation and Control
15. Perception and Sensor Integration
16. Advanced ROS Topics
17. ROS Ecosystem and Community
18. Troubleshooting and Best Practices
13.
Navigation and Path Planning
13.1.
Navigation Stack Overview
13.1.1.
System Architecture
13.1.2.
Component Integration
13.1.3.
Data Flow
13.2.
Map Representation
13.2.1.
Occupancy Grids
13.2.2.
Map Formats
13.2.3.
Map Building
13.3.
Localization
13.3.1.
Adaptive Monte Carlo Localization (AMCL)
13.3.2.
Particle Filters
13.3.3.
Map Server
13.3.4.
Initial Pose Estimation
13.4.
Path Planning
13.4.1.
Global Planning
13.4.1.1.
Planning Algorithms
13.4.1.2.
Cost Functions
13.4.1.3.
Path Optimization
13.4.2.
Local Planning
13.4.2.1.
Obstacle Avoidance
13.4.2.2.
Trajectory Generation
13.4.2.3.
Dynamic Window Approach
13.5.
Costmaps
13.5.1.
Global Costmap
13.5.1.1.
Static Map Layer
13.5.1.2.
Obstacle Layer
13.5.1.3.
Inflation Layer
13.5.2.
Local Costmap
13.5.2.1.
Real-time Updates
13.5.2.2.
Sensor Integration
13.5.2.3.
Rolling Window
13.6.
Navigation Behaviors
13.6.1.
Move Base
13.6.2.
Recovery Behaviors
13.6.3.
Goal Handling
13.7.
Navigation Configuration
13.7.1.
Parameter Tuning
13.7.2.
Sensor Integration
13.7.3.
Robot-Specific Setup
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14. Manipulation and Control