Integration of a Mobile Robot in the ROS Environment. Analysis of the Implementation in Different Versions

会议论文
发表日期：

2024年

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Sergio García González,
Vidal Moreno Rodilla,
Francisco Javier Blanco Rodríguez,
Belen Curto Diego,
Héctor Sánchez San Blas,
André Filipe Sales Mendes,
Gabriel Villarrubia González

摘要

In recent years, the field of robotics has undergone an exponential evolution, and the use of mobile robots has become increasingly common in various sectors of society, such as industry, medicine, agriculture and logistics. As a result, more and more developers are opting for the use of tools or resources that enable agile software development. One of the most prominent and widely used is the Robot Operating System (ROS) framework. In this article, a detailed analysis will be made of the different versions of ROS, from the first versions to the most recent ones. Furthermore, the process of integrating a mobile robot into ROS 1 and ROS 2 versions will be addressed. The process followed will be indicated, starting from the selection of main components, such as perception, control, software resources and motion planning. In this process, different packages, repositories and tools available in ROS that facilitate this integration will be explored.