DEVELOPMENT OF THE NAVIGATION SYSTEM OF AN AUTONOMOUS MOBILE ROBOT USING ROS 2
Liudmyla Hanenko, Viktoriia Zhebka · Cybersecurity Education Science Technique · 2025
Autonomous mobile robots are being actively implemented in various spheres of human life. The successful implementation of robotic systems functionality largely depends on the choice of a reliable software platform. Robot Operating System 2 (ROS 2) is a modern platform for the development, testing, and implementation of robotic systems. The article presents a comparative analysis of the Robot Operating System (ROS) and its updated version ROS 2. Architectural changes, including the use of DDS (Data Distribution Service) to provide distributed communication, are analyzed. Special attention is paid to the aspects of increased performance, modularity and security that have been improved in ROS 2. For the purpose of practical use of ROS 2, an autonomous navigation system for a mobile robot was created. Using the Gazebo simulation environment, a model of the environment with static obstacles was created. The map of the modeled environment was generated using the Cartografer package, which allows creating two-dimensional maps based on sensor data. The Nav2 package was used to implement the robot's navigation. This package supports integration with various types of sensors (LiDAR, cameras, IMU) and is easily configured using YAML files. Global route planning was performed using the Dijkstra algorithm with the Navfn Planner plug-in. During the testing, the TurtleBot3 Waffle mobile robot platform was used, developed for conducting experiments in the field of robotics using ROS/ROS 2. The results of the study demonstrated that ROS 2 is an effective framework that integrates all the necessary tools for developing an autonomous mobile robot navigation system. ROS 2 provides a comprehensive interaction of sensors, route planning, localization, motion control, and obstacle avoidance algorithms. The study confirmed the feasibility of using the Gazebo simulator for preliminary testing of navigation algorithms before their implementation on real equipment. The created navigation system can have a wide range of applications in such industries as industrial automation and service robotics.