In this video, we show how the Navigation stack provided by ROS
(Robot Operative System) handles navigating in narrow
The world is perceived through a laser range finder located on
the top front of the platform. We do not use the ultra sonic
A map was previously generated using the slam_gmapping package
provided at www.ros.org/wiki/slam_gmapping.
To localize itself in the map, the robot uses the Adaptive
Monte Carlo Localization method provided at
To communicate with the Pioneer 3DX platform, we directly used
the ROSARIA driver provided by the University of Zagreb at
The user indicates navigation goals to the robot via the RViz
(Robot Visualization) ROS package.
The navigation stack and robot configuration run on the laptop
carried by the pioneer platform.
All in all, it took us 4 days to figure out how to use and
interconnect those different elements. Thanks ROS!