工程师研究与开发中心（ERDC）的机器人操作系统（ROS）2 Humble自主机器人开发

May 2025 The US Army Engineer Research and Development Center (ERDC)solves thenation’s toughest engineering and environmental challenges. ERDC developsinnovative solutions in civil and military engineering, geospatial sciences, waterresources, and environmental sciences for the Army, the Department of Defense,civilian agencies, and our nation’s public good. Find out more atwww.erdc.usace.army.mil.To search for other technical reports published by ERDC, visit the ERDC online libraryathttps://erdclibrary.on.worldcat.org/discovery. Autonomous Robotics Development inRobot Operating System (ROS) 2 HumbleShawn Sinanan, Amir Naser, and Garry GlaspellUS Army Engineer Research and Development Center (ERDC)Geospatial Research Laboratory (GRL)7701 Telegraph RoadAlexandria, VA 22315-3864Maribel Delatorre and Ahmet SoylemezogluUS Army Engineer Research and Development Center (ERDC)Construction Engineering Research Laboratory (CERL)2902 Newmark DriveChampaign, IL 61824Final Technical Report (TR)Distribution Statement A. Approved for public release: distribution is unlimited.Prepared forUS Army Corps of EngineersWashington, DC 20314-1000UnderProgram Element 0603119A, Project Number BK8 AbstractThis report presents a novel Robot Operating System (ROS) 2–based sim-ulation framework designed to facilitate the development and testing of anautonomous navigation stack. Elements of the navigation stack, includinglidar odometry, simultaneous localization and mapping (SLAM), and fron-tier exploration, are discussed in detail. The key features of the navigationstack include real-time performance and scalable architecture. The simula-tion results were applied to a physical robot. As a result, the physical robotwas able to autonomously map the interior of a building and to generate2D occupancy and 3D point clouds of the environment.DISCLAIMER:The contents of this report are not to be used for advertising, publication, or promotional purposes.Citation of trade names does not constitute an official endorsement or approval of the use of such commercial products.All product names and trademarks cited are the property of their respective owners. The findings of this report are not tobe construed as an official Department of the Army position unless so designated by other authorized documents.DESTROY THIS REPORT WHEN NO LONGER NEEDED. DO NOT RETURN IT TO THE ORIGINATOR. ContentsAbstract.......................................................................................................................................................... iiFigures.............................................................................................................................................................vPreface............................................................................................................................................................vi1Introduction............................................................................................................................................11.1Background..................................................................................................................... 11.2Objective.......................................................................................................................... 11.3Approach and Scope...................................................................................................... 22Simulation..............................................................................................................................................52.1Docker............................................................................................................................. 62.2Gazebo............................................................................................................................ 62.2.1Adding a 3D Lidar to the TurtleBot3 Unified Robotics Description Format2.2.2Adding a 3D Lidar to the TurtleBot3 Structured Data File (SDF)..................112.2.3Troubleshooting...............................................................................................122.3Direct Lidar-Inertial Odometry (DLIO)...........................................................................122.4Real-Time Appearance-Based Mapping (RTAB-Map)..................................................142.5Exploration....................................................................................................................172.5.1Testing with the Simultaneous Localization and Mapping (SLAM) Toolbox.182.5.2Switching to RTAB-Map....................................................................................192.5.3Troubleshooting...............................................................................................203Physical Robot.....................................................................................................................................213.1Rover Robotics Driver................................