Mobile Manipulation Based on ROS1/ROS2 Middleware: Software Architecture and Evaluation of ROS2 Planning Algorithms

摘要

Developing an application based on ROS (Robot Operating System) requires considering several features to achieve a scalable, robust, and stable software architecture. This paper presents our chosen software architecture for autonomous mobile manipulation, addressing the need to manage inter-component communication involving both ROS1 and ROS2 versions of the middleware. Based on this architecture, selecting SLAM and ROS2 planning algorithms remains a complex issue, particularly for industrial environment navigation. In this context, we propose and discuss an evaluation of ROS2 planning algorithms based on specific criteria. This document presents the advancements of our research work, as part of a doctoral thesis, on the development of a software architecture for autonomous object manipulation in an industrial environment using mobile manipulator robots.