Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju

undergraduate thesis

• Title (english): Application of the Robot operating system 2 (ROS2) on a mobile robot in the Gazebo virtual environment
• Author: Teo Prekrit
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-02-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Zadatak ovog rada je istražiti Robotski operativni sustav 2 (ROS 2) i primijeniti spoznaje na primjeru mapiranja Regionalnog centra izvrsnosti za robotske tehnologije (CRTA). Na početku rada opisana je arhitektura ROS-a 2 i najvažniji koncepti ove platforme, nakon čega slijedi usporedba s izvornom verzijom, ROS-om 1, gdje su opisane novosti koje omogućuju primjenu ROS-a 2 u realnom sektoru. Opisan je i način na koji je moguće implementirati rješenja razvijena za ROS 1 u ROS-u 2 kada ta rješenja nisu još prilagođena novom izdanju. Nakon toga slijedi pregled implementacije simultane lokalizacije i mapiranja (SLAM) na primjeru virtualne verzije CRTA-e u simulacijskom softveru Gazebo pomoću robota TurtleBot3.

Abstract (english)

The goal of this paper is to research the Robot Operating System 2 (ROS 2) and apply the gained knowledge by mapping the Regional Center of Excellence for Robotic Technology (CRTA). The first part of the paper describes the architecture and prime concepts of ROS 2. This is followed by an outline of the differences between ROS 2 and its predecessor, ROS 1, that made ROS 2 a viable choice in industrial settings, as well as an overview of implementing ROS 1-compatible solutions in ROS 2. The final part of this paper deals with implementing a simultaneous localization and mapping (SLAM) solution in a virtual representation of CRTA in the Gazebo simulator using an edition of the TurtleBot3 robot.

• Keywords: Robotski operativni sustav (ROS); ROS 2; simultana lokalizacija i mapiranje; SLAM; Gazebo; TurtleBot3
• Keywords (english): Robot Operating System (ROS); ROS 2; Simultaneous Localization and Mapping; SLAM; Gazebo; TurtleBot3
• Language: croatian
• URN:NBN: urn:nbn:hr:235:669342
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-02-22 10:06:35