ROS2-based locator optimized autonomous navigation robot

With the rapid development of robot technology, mobile robots are gradually becoming mature and are widely used in warehousing, logistics and environmental detection. However, the navigation robot working indoors has a great impact on its positioning and navigation accuracy due to the strong activity of family members and the high dynamics of the working environment, and the operation effect is not satisfactory. At the same time, the traditional ROS system cannot be well adapted to the future working environment due to poor stability and poor correlation of multiple robots. Based on the latest ROS2 system, this paper designs an autonomous navigation robot, and optimizes the front-end parameters and back-end parameters of Cartographer that make the established map more complete. By optimizing locators and planners in navigation2 that makes the robot more effective use of the environmental space and efficiently carries out indoor path planning and navigation.