Chapter 8: SLAM and Navigation

Week 8 | Module 2

8.1 SLAM with Cartographer

ros2 launch slam_toolbox online_async_launch.py

8.2 Nav2 Stack

• Global planner: A*, Dijkstra
• Local planner: DWB, TEB
• Costmaps: Static + dynamic obstacles

8.3 Assignment

Build autonomous navigation system in Gazebo

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Next: Module 3: Humanoid Robotics →