为Robotino机器人开发了ROS2导航与仿真栈，实现仿真与实机高度一致。
A ROS~2-based Navigation and Simulation Stack for the Robotino
- 基于Webots构建带激光雷达的Robotino仿真环境，集成ROS2与Nav2导航套件。
- 三台Robotino在物流场景中验证，仿真与实机表现一致性高。
- 适合教育科研中使用ROS2进行移动机器人导航开发的用户。
Festo Didactic公司开发的Robotino是一款广泛应用于移动机器人教学与研究的通用平台。然而，目前尚无官方ROS2支持。本文介绍我们在Webots中构建的Robotino仿真环境，扩展了激光雷达传感器，并实现了ROS2集成及基于Nav2套件的定位与导航预配置方案。通过在实验室物流环境中对三台Robotino进行仿真与实机对比实验，验证了该方案的可行性。此外，还使用由RoboCup Logistics League团队GRIPS开发的ROS2硬件驱动进行了测试。结果表明，利用ROS2和Nav2在Robotino平台上实现导航任务是可行的，仿真与真实表现高度一致。
原文摘要 · Abstract (English)
The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS2 integration for the Robotino available. In this paper, we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite are provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance.
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