This part mainly includes the path planning and positioning of the robot. It contains three packages, and several nodes. Detailed content can see specific introduction.
1. bitbots_move_base
The function of this package is: talk about goal coordinates conversion. Location of obstacles released. See details here.
2. bitbots_localization
The main content of this package is: Get the robot's relative position to the goal，And updates as the robot moves.see details here.
3. bitbots_bezier_pathfinding
The main content of this package is: bezier-based pathfinding.see details here.