Poster: Implementing GPS-Based Autonomous Navigation in ROS2 Using an Inertial Sense Device

摘要

Outdoor autonomous navigation can be achieved using both Global Positioning System (GPS) sensors and Light Detection and Ranging (LiDAR) sensors. GPS location data are used to navigate to the desired destination, while LiDAR point cloud data are used for obstacle detection and avoidance. Both of these sensors are mounted on an unmanned ground vehicle (UGV) together with an onboard computer. This onboard computer processes all sensor data and uses multiple pieces of open source software to autonomously navigate the UGV in an outdoor environment. When trying to implement this in a Robot Operating System (ROS) 2 environment while using an Inertial Sense device, the absence of device support for ROS 2 becomes a roadblock. Multiple approaches exist to enable ROS 2 support for the Inertial Sense device present in the current hardware and software environment, and progress is being made in implementing this. Approaches are being explored that merge previously incompatible software environments, as well as approaches that facilitate communication between separated software environments.