Setting up a software stack for autonomous mono robot exploration and mapping using ROS

Prerequisites

This setup is performed and documented on an Ubuntu system with the following software stack:

  • Ubuntu 16.04 LTS (may work on other distribution though)
  • ROS kinetic: if you don't have ROS pre-installed, please refer to this tutorial http://wiki.ros.org/kinetic/Installation/Ubuntu. I suggest to use the full desktop installation configuration, this will take a while (> 2 GB)
  • Gazebo for simulation (it is installed by default if you choose the full desktop installation when installing ROS)
  • GIT (sudo apt-get install git)
  • Catkin for package building (installed by default when installing ROS)

To follow this post, some basic knowledge on ROS is needed:

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