Construction and management of ROS based mobile robot

ROS (Robot Operating System) is an open source software development kit with a publish- subscribe messaging model that enables to control robots and communicates the robot with environmental components in its created standard. ROS, which increases the number of products, packages and projects it supports day by day, takes its standard position in the robot world as it has a language-independent and modular structure with simulation tools. In this study, ROS-based AMR (Autonomous Mobile Robot) has been performed together with all its mechanical, electronic, and software parts. The robot has been operated in the simulation and real environment, and the robot has been managed by the developed systems. Gazebo, Rviz and rqt provided by ROS have been utilized as simulation tools. The robot, the design of which was made in the 3D design program, has been transferred to the simulation environment and simulated with a realistic world created in the Gazebo, the outputs of the robot and its functions have been observed through Rviz, the precise settings of the robot have been implemented using many tools at rqt, and the data in the system have been observed. With the help of the SLAM (Simultaneous Localization and Mapping) function, the robot is enabled to map an area, it has never known, together with the lidar (Laser Imaging Detection and Ranging) data. By using the packages provided by ROS together with the prepared map by manual driving with a virtual joystick, the robot is able to perform robot positioning without any markers in the environment thanks to natural navigation. Dynamic, safe, and cost-effective road planning and reaching the target by taking into account fixed and moving obstacles bring AMRs to the forefront. The parameters of the SLAM and navigation function have been optimized and made ready to work on the robot. With the backend based on the web-socket communication protocol developed inside the robot, it is possible to manage and monitor the robot from external sources. With this possibility, the robot can communicate with the central/intelligent systems and integrate them into the processes. With the developed task management system, the robot's autonomy capability has been increased and it has been enabled to work together with peripheral units. The tasks to be taken by the robot can be revised quickly with the developed dynamic position/target system. In addition, the robot can be driven manually with the web-based virtual joystick developed. With the help of central/intelligent management systems that can be developed, robots can communicate with each other and with the doors and elevator systems in the buildings. It can communicate with machines and participate in production processes under Industry 4.0. When there are multiple robots, traffic control of robots can be performed by developing fleet control systems. With data monitoring and reporting systems, follow-up, maintenance, fault, and efficiency analyzes can be performed.