Navigazione waypoint ROS2 con ripianificazione dinamica tramite Nav2
In this tutorial, you’ll learn how to implement waypoint-based navigation in ROS2 using the Nav2 stack, enhanced with dynamic replanning capabilities. This setup enables your robot to follow a sequence of predefined goals and recalculate the path if unexpected obstacles appear. It’s ideal for autonomous patrol or area coverage in indoor environments. 📝 Requirements – […]
Advanced SLAM in ROS2: Mapping with Cartographer
In this tutorial, you’ll learn how to use Google’s Cartographer with ROS2 to perform advanced 2D SLAM (Simultaneous Localization and Mapping). Cartographer is a real-time SLAM algorithm that provides loop closure and accurate map construction in dynamic environments. We’ll use a simulated TurtleBot3, but the steps are adaptable to real robots. 📝 Requirements – ROS2 […]
How to Integrate ROS Control into a Simulated Robot in Gazebo
Controlling a simulated robot as if it were real — that’s the power of ROS Control. In this guide, we’ll see how to properly configure the URDF model so ROS can “command” the simulated motors of our BumperBot. 🚀 Introduction: What Is ROS Control and Why Use It? Imagine building a robot with real motors, […]
Choosing the Right Locomotion System for Mobile Robots
Whether it’s a four-legged robot climbing rocky hills or a drone hovering over a building site, locomotion is what gives mobile robots the power to explore, navigate, and interact with the world. But what makes one locomotion system better than another? Is there a perfect design? The answer is more nuanced than you might think. […]
Creating a 2D map with GMapping (ROS)
In this tutorial, you will learn how to build a 2D map of an environment using the GMapping SLAM algorithm in ROS1. This process is fundamental for autonomous navigation as it allows the robot to understand and represent its surroundings. 📝 Requirements – ROS1 installed (e.g., Noetic) – `slam_gmapping` package – Simulated robot with LIDAR sensor (e.g., […]
Navigation with move_base and AMCL (ROS)
In this tutorial, you will learn how to autonomously navigate a mobile robot in ROS1 using the `move_base` package for path planning and `amcl` for probabilistic localization on a prebuilt map. We will use a simulated robot (e.g., TurtleBot3) with a map previously generated using SLAM. 📝 Required components ROS1 installed (e.g., Noetic on Ubuntu […]
How to create a simple Subscriber Node with C++ – ROS2
In this tutorial, we’ll create a simple ROS 2 node in C++ that subscribes to a topic and listens for messages published on it. If you haven’t checked out the simple publisher tutorial, I recommend starting there first. 🔍 What is a ROS Node and a Topic? In ROS (Robot Operating System), software is organized […]
How to create a simple Publisher Node with Python – ROS2
In this guide, we’ll build a simple publisher node using Python in ROS2.The node will periodically publish a string message on a topic. We’ll explain every step clearly and line-by-line, so even if you’re new to ROS you can follow along. 🔍 What is a ROS Node and a Topic? In ROS (Robot Operating System), […]
How to create a simple Publisher Node with C++ – ROS2
In this tutorial, we’ll learn how to create a simple ROS2 node using C++ that sends text messages to a topic.This is one of the fundamental skills in the ROS2 ecosystem — allowing different programs (called nodes) to talk to each other via topics. 🔍 What is a ROS Node and a Topic? In ROS […]
How to create a simple Publisher Node with Python – ROS
In this guide, we’ll build a simple publisher node using Python in ROS.The node will periodically publish a string message on a topic. We’ll explain every step clearly and line-by-line, so even if you’re new to ROS you can follow along. 🔍 What is a ROS Node and a Topic? In ROS (Robot Operating System), […]
