An Autonomous Mobile Robot Simulation Using Navigation (NAV2) and Simultaneous Localization and Mapping (SLAM) in ROS2

摘要

This chapter proposes a method for simulating a mobile robot in ROS2 by combining the NAV2 and SLAM frameworks. The main objective is to simulate and test a mobile robot in a controlled simulated environment. The robot model and its interactions with surrounding obstacles are investigated in the study using a simulated environment constructed with Gazebo. Real-time data collection is incorporated into the robot model using depth cameras and LiDAR; this data is examined and presented in RVIZ. The outcomes demonstrate that path planning and mapping are successful, enabling the robot to navigate on its own while dodging hazards. It demonstrates how well NAV2 and SLAM complement one another to enhance the autonomy and usefulness of autonomous mobile robots (AMRs) in their natural environments.