Resumen de Implementation of ros navigation stack on Lego Mindstorms NTX 2.0 robot

Mykhailo Riabtsev, Rafael Priego, Margarita Marcos Muñoz

• The robot navigation problem for assembly system was touched in this paper. Using Robotic Operating System navigation stack on a real robot requires expensive Light Detection And Ranging (LIDAR) sensor for localization. This feature makes using navigation stack impossible on robots with limited capabilities like Lego Mindstorms NXT 2.0. This paper presents the method of using robot odometry data for robot localization. The method is based on running real robot with stage_ros simulation at the same time. Simulated robot follows the real one and provides the position to the navigation stack of a real robot. The node for creating connection between real robot and the simulator was created and described. Its design is based on discrete PID controller principles. The strait line experiment proves the efficiency of the proposed concept, but additional work on rotational component of odometry should be carried out.