Design and implementation of indoor robot positioning and mapping based on ROS

According to the mapping and positioning requirements of indoor robots, a mobile robot system based on ROS operating system and Lidar is designed and constructed. The robot system uses the PC built with the ROS system as the upper computer, and the STM32 single-chip microcomputer as the lower computer. It uses the Delta-2A Lidar, Odom, and IMU to obtain relevant information, and transmits it to the SLAM of the cartographer algorithm to construct a grid map. The results show that the built map has better accuracy, and the mobile robot system has better portability.