Sensor System

2D Lidar
 Output

OLED Display Speaker

ekf_odom_pu

Mapping

scan

hector_slam
(sensor_msgs/LaserScan)

ultrasonic

 /left_ticks

ub /right_ticks

Base Controller System

/cmd_vel
Motor Driver
(geometry_msgs/Twists)

Keyboard

Laptop TMUX

Rviz

/cmd_vel

(geometry_msgs/Twists)
move_base

(move_base_msgs/MoveBaseAction)
Visualization
 Ultrasonic Sensors

Infrared Sensor

Voltage Sensor

Inertial Measurement Unit

/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

Local Planner (nav_msgs/OccupationGrid)

Global CostMap

local_costmap

(nav_msgs/OccupationGrid)

local_plan

Local CostMap (nav_msgs/Path)

/map

(nav_msgs/OccupationGrid)

map_server
RViz