...
The navigation stack operates with different positioning data which * coordinate * frames. The frame could be thought of a coordinate system with a unique name which has a defined coordinate transformation relative to another frame called parent frame. Thus, frames can form hierarchies allowing to transform coordinates from one frame to another by applying transformations for each linked frame on the path between the two.
...
The main coordinate frames effectively splits split state estimate components into two main parts:
...
Simultaneous localization and mapping (SLAM) is solves the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of a mobile platform (i.e. the robot) location within it.
...
In the context of NAVQ+, the software release provides ready-to-use SLAM-based navigation utilizing the navigation stack, Slam Toobox, iRobot Create3 mobile platform and SlamTeck RPLIDAR A1.
In addition, the software release provides a ready-to-use ROS2 node for PMD Flexx2 camera which,upon integration, * enhances * obstacle avoidance of the mobile platform where the LIDAR can’t “see” obstacles * below * the scanned plane.
The following application notes describe how to prepare the NAVQ+, iRobot Create3, and other components for SLAM-base navigation with and without PMD Flexx2 camera.
...