ROS2 UGV Platform Integration

Sensor, communication, SLAM, and navigation integration for an unmanned ground vehicle.

Scope

In the laboratory’s multi-UXV team project, I owned the UGV (unmanned ground vehicle) part — from platform setup to the autonomous-driving pipeline. The UGV also serves as a mobile charging station linked to the UAV swarm.

Multi-UXV system overview

Multi-UXV system overview — a UAV swarm (3D LiDAR, RGB-D) works with the ground UGV mobile charging station. I was responsible for building the UGV platform.

Contribution

  • Set up the UGV platform and driving environment in ROS2.
  • Integrated CAN communication, the robot SDK, an Ouster LiDAR, an Intel RealSense D435i camera, and IMU sensing.
  • Containerized sensor drivers and the driving stack with Docker for a reproducible setup.
  • Configured SLAM and navigation workflows, and documented setup and integration guides for the team.

SLAM mapping in RViz

LiDAR point-cloud SLAM mapping in RViz — map, point cloud, and odometry visualized in real time.

ROS2 · ROS1 · SLAM · Ouster LiDAR · RealSense D435i · CAN · Docker · Python · C++