This paper presents an implementation of autonomous navigation functionality based on Robot Operating System (ROS) on a wheeled differential drive mobile platform called Eddie robot. ROS is a framework that contains many reusable software stacks as well as visualization and debugging tools that provides an ideal environment for any robotic project development. The main contribution of this paper is the description of the customized hardware and software system setup of Eddie robot to work with an autonomous navigation system in ROS called Navigation Stack and to implement one application use case for autonomous navigation. For this paper, photo taking is chosen to demonstrate a use case of the mobile robot.

翻译：本文件介绍了基于机器人操作系统(ROS)的自主导航功能在称为Eddie 机器人的轮式差分驱动移动平台上实施的情况。ROS是一个包含许多可重复使用的软件堆以及可视化和调试工具的框架,为任何机器人项目开发提供了理想的环境。本文的主要贡献是描述Eddie机器人定制的硬件和软件系统设置,以便在称为导航堆叠的ROS自动导航系统中与自动导航系统合作,并应用一个自动导航应用程序。本文选择拍照来展示移动机器人的使用情况。