Seamless Rapid Prototyping with Docker Container for Mobile Robot Development

摘要

This paper describes seamless rapid prototyping using Docker Container for developing mobile robots with waypoint navigation capabilities as an example of seamless rapid prototyping, we show how to migrate from an existing ROS-based Lidar SLAM mobile robot to a ROS2-based system with waypoint navigation capabilities. Between ROS and ROS2, there are many implementation issues related to the simulation environment called Gazebo, there are differences. Therefore, we will create a new sdf file for the mobile robot model and an urdf file for Gazebo to overcome the differences between the ROS and Gazebo implementations. The integration of these files with the new Navigation2 software for SLAM navigation has been successfully implemented in the developed Gazebo simulation environment.