Controlling a mobile robot using a Robot Operating System (ROS)

Zadatak diplomskog rada je razviti upravljanje mobilnim robotom primjenom robotskog operativnog sustava (ROS). Upravljanje robotom pomoću robotskog operativnog sustava pruža korisniku okolinu za razvoj modularne upravljačke programske podrške, komunikacijsku infrastrukturu koja povezuje programske komponente te otvorenu biblioteku implementiranih algoritama. Potrebno je ispitati sve komponente sustava mobilnog robota, validirati njihovu funkcionalnost te ih zamijeniti s odgovarajućim novim komponentama. Nove komponente potrebno je povezati sa starim komponentama u jedinstven sustav te izraditi programsku podršku koristeći ROS za njihovo upravljanje. Primjenom jednostavnog upravljanja mobilnim robotom treba razviti složeno upravljanje. Razvijeno složeno upravljanje treba omogućiti dva načina, ručno i autonomno upravljanje.The task of this Master's thesis is to develop the control of a mobile robot through the application of Robot Operating System (ROS). Robot Operating System enables robot control and provides the appropriate environment for development of modular management program support, communication infrastructure which connects program components as well as the open source library of implemented algorithms. In order to complete this assignment, it is necessary to review all components of a mobile robot system, test their accuracy and replace them with suitable new components. Furthermore, it is required to connect new components with the old components in order to make a unique system and to create program support using ROS for its control. Complex control, which should be developed using simple control of a mobile robot, enables two types of control, manual and autonomous