2.2.2 Add and Enhance ROS Packages to Support Navigation in Processor SDK Linux

To support autonomous navigation with the Kobuki, several ROS modules are added or enhanced on top of the meta-ros layer in Processor SDK Linux. The corresponding Yocto recipes can be found from recipes-ros and listed here:

├── hector-slam │ ├── hector-map-tools_0.3.5.bb │ ├── hector-nav-msgs_0.3.5.bb │ └── hector-trajectory-server_0.3.5.bb ├── kobuki-driver │ ├── files │ │ └── kobuki.conf │ └── kobuki-driver_0.6.5.bbappend ├── navigation │ ├── files │ │ ├── 0001-navigation-rotate-recovery-mmwave-changes.patch │ │ └── 0002-navigation-move-base-mmwave-changes.patch │ ├── move-base_1.12.14.bbappend │ └── rotate-recovery_1.12.14.bbappend ├── octomap-server │ └── octomap-server_0.6.0.bb

Among these modules, the octomap-server and hector-slam modules are dependent ROS packages of the navigation but have not been included in the meta-ros. The kobuki-driver is adding the udev rule to insert the kernel modules needed to detect the Kobuki connection. The move-base and rotate-recovery modules under the navigation are enhanced to perform the initial rotation to clear the costmaps before the navigation. The move-base module is also taking the fixes and enhancements from the lab for autonomous robotics with ROS for mmWave ^[5].