Autonomous robotics development in Robot Operating System (ROS) 2 Humble
Shawn Sinanan, Amir Naser, Maribel Delatorre, Ahmet Soylemezoglu, Garry P. Glaspell · 2025
This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an autonomous navigation stack. Elements of the navigation stack, including lidar odometry, simultaneous localization and mapping (SLAM), and frontier exploration, are discussed in detail. The key features of the navigation stack include real-time performance and scalable architecture. The simulation results were applied to a physical robot. As a result, the physical robot was able to autonomously map the interior of a building and to generate 2D occupancy and 3D point clouds of the environment.