RobotinoのためのROS 2ベースのナビゲーションとシミュレーションスタック
A ROS~2-based Navigation and Simulation Stack for the Robotino
教育・研究用ロボットRobotinoにLIDARを追加したWebotsシミュレーション環境とROS 2統合、Nav2による自律移動を構築し、実機実験との比較でシミュレーションと実世界の性能が高い一致を示すことを検証した。
著者: Saurabh Borse, Tarik Viehmann, Alexander Ferrein, Gerhard Lakemeyer
分類: cs.RO
原文アブストラクト
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite are provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance.
