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undergraduate thesis
Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:669342
Prekrit, Teo
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Prekrit, T. (2024). Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:669342

Prekrit, Teo. "Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:669342

Prekrit, Teo. "Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:669342

Prekrit, T. (2024). 'Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 06 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:669342

Prekrit T. Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 July 06] Available at: https://urn.nsk.hr/urn:nbn:hr:235:669342

T. Prekrit, "Primjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:669342

Metadata
TitlePrimjena Robotskog operativnog sustava 2 (ROS2) na mobilnom robotu u Gazebo virtualnom okruženju
Title (english)Application of the Robot operating system 2 (ROS2) on a mobile robot in the Gazebo virtual environment
AuthorTeo Prekrit
MentorMarko Švaco (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-02-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Zadatak ovog rada je istražiti Robotski operativni sustav 2 (ROS 2) i primijeniti spoznaje na primjeru mapiranja Regionalnog centra izvrsnosti za robotske tehnologije (CRTA). Na početku rada opisana je arhitektura ROS-a 2 i najvažniji koncepti ove platforme, nakon čega slijedi usporedba s izvornom verzijom, ROS-om 1, gdje su opisane novosti koje omogućuju primjenu ROS-a 2 u realnom sektoru. Opisan je i način na koji je moguće implementirati rješenja razvijena za ROS 1 u ROS-u 2 kada ta rješenja nisu još prilagođena novom izdanju. Nakon toga slijedi pregled implementacije simultane lokalizacije i mapiranja (SLAM) na primjeru virtualne verzije CRTA-e u simulacijskom softveru Gazebo pomoću robota TurtleBot3.
Abstract (english)
The goal of this paper is to research the Robot Operating System 2 (ROS 2) and apply the gained knowledge by mapping the Regional Center of Excellence for Robotic Technology (CRTA). The first part of the paper describes the architecture and prime concepts of ROS 2. This is followed by an outline of the differences between ROS 2 and its predecessor, ROS 1, that made ROS 2 a viable choice in industrial settings, as well as an overview of implementing ROS 1-compatible solutions in ROS 2. The final part of this paper deals with implementing a simultaneous localization and mapping (SLAM) solution in a virtual representation of CRTA in the Gazebo simulator using an edition of the TurtleBot3 robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:669342
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-02-22 10:06:35