Mobile Robot Retrofit for the ROS2 Framework

Bruno Pinto da Cunha Lima; Victor Santos Matos

doi:10.34178/jbth.v9i8.699

Bruno Pinto da Cunha Lima
Victor Santos Matos

DOI: https://doi.org/10.34178/jbth.v9i8.699

Keywords: Robotics, ROS2, Retrofit, TurtleBot2i

Abstract

This article presents the retrofit of a TurtleBot2i mobile robotic platform to support the ROS2 framework. The motivation for this migration lies on the discontinuation of ROS1 and the growing need for educational and research platforms to align with current technologies. The retrofit process encompassed both hardware and software adaptations: the robot was upgraded with a new power system and additional sensors, including a Velodyne LiDAR and an Intel RealSense camera, while its software environment was updated to Ubuntu 22.04 and ROS2 Humble, with the robot model and drivers adapted to ensure full integration. The results confirm the platform’s compatibility with the ROS2 ecosystem, enabling advanced perception and SLAM algorithms. These improvements enhance the applicability of the TurtleBot2i in educational and research contexts, ensuring its continued relevance in mobile robotics development.