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ServeBot Software Architecture - Drawio
ServeBot Software Architecture - Drawio
2D Lidar
Output
ekf_odom_pu
Mapping
scan
hector_slam
(sensor_msgs/LaserScan)
ultrasonic
/left_ticks
ub /right_ticks
Keyboard
Laptop TMUX
Rviz
/cmd_vel
(geometry_msgs/Twists)
move_base
(move_base_msgs/MoveBaseAction)
Visualization
Ultrasonic Sensors
Infrared Sensor
Voltage Sensor
/map_
/base_li
/imu_b
/base_link
(sensor_msgs/Range)
obstac
(nav_msgs/O
infared
(sensor_msgs/Range)
odom_data_quat
(nav_msgs/Odometry)
imu/filtered_data
(sensor_msgs/imu) Localization
/initialpose amcl
robot_pose_ekf
_to_odom
nk_to_laser
roadcaster
tf
k_broadcaster
low_battery
(SERVICE)
cle_2Dmap
move_base_simple/goal
OccupancyGrid) (geometry_msgs/PoseStamped)
global_plan
(nav_msgs/Path)
Navigation Stack
move_base
internal_plan
(nav_msgs/Path)
Global Planner
local_costmap
Global CostMap
local_costmap
(nav_msgs/OccupationGrid)
local_plan
/map
(nav_msgs/OccupationGrid)
map_server
RViz