We have already discussed how to build a map of the environment using the robot simulation and robot hardware. In this section, we discuss how to command the robot to go into a particular place of the map. A better way to find the position of the robot in each table is to manually drive the robot using teleoperation.
Assuming that ChefBot packages are configured in both the robot's PC and the user's PC, there should be Wi-Fi networks to which both the robot and user PCs can connect and communicate using the IP assigned to each PC. It should be noted that we have to set
ROS_IP, as mentioned in Chapter 10, Integration of ChefBot Hardware and Interfacing it into ROS, Using Python.
The following procedure ...