Purpose
Chapter 10 has a lot in it so I’ve divided it into two. This is part 2 so remember to refer to this 10 part2: Navigating in parallel and use the code that I provided in samples.
Do This
There’s not a lot of code to write, but I would like you to actually run all the examples and try to understand what is going on. Remember, again: **look at the code provided in topic_link :prr_navigating
Please submit responses
- How does move_base use the map, if at all?
- Why is it necessary to give an “estimated position”?
- What does amcl do during navigation, and why is that necessary?
- Please write one or two things that are still confusing to you; if it’s all clear, then please write one or two major takeaways.