The following link details the necessary steps to add a 3D LiDAR to a TurtleBot3 in the Gazebo Harmonic simulation. https://github.com/gglaspell/3D\_lidar\_tb3\_gz\_harmonic ...

Autonomous robotics development in Robot Operating System (ROS) 2 Humble https://erdc-library.erdc.dren.mil/items/99cfad82-ccd5-40d8-bfa3-fcafc8294f2a @techreport{sinanan_autonomous_2025, title = {Autonomous robotics development in {Robot} {Operating} {System} ({ROS}) 2 {Humble}}, url = {https://hdl.handle.net/11681/49747}, abstract = {This report presents a novel Robot Operating System (ROS) 2–based simulation framework designed to facilitate the development and testing of an aut...

Citations: 2025 Exploring lidar odometry within the robot operating system http://dx.doi.org/10.21079/11681/49523 @techreport{walls_exploring_2025, title = {Exploring lidar odometry within the robot operating system}, url = {https://hdl.handle.net/11681/49523}, urldate = {2025-04-28}, institution = {Engineer Research and Development Center (U.S.)}, author = {Walls, Andrew and Ellison, Charles and Bunkley, Steven and Dodd, Brandon and Naser, Amir and Charter, Dylan and Del...

Exploring lidar odometry within the robot operating system http://dx.doi.org/10.21079/11681/49523 Authors Walls, Andrew, Ellison, Charles C., Bunkley, Steven L., Dodd, Brandon M., Naser, Amir, Charter, Dylan, Delatorre, Maribel, Lee, Jin-Kyu, Glaspell, Garry P., and Soylemezoglu, Ahmet Abstract Here, we explore various lidar odometry approaches (with both 3 and 6 degrees of freedom) in simulation. We modified a virtual model of a TurtleBot3 robot to work with the various odometry approaches...

List of published technical reports: 2020 An assessment of an inexpensive COTS 360-degree camera for mapping and localization in a GPS-denied area https://erdc-library.erdc.dren.mil/items/88f1abef-266a-40f6-abc0-7b7ad17a7a87 Optimized low Size, Weight, Power and Cost (SWaP-C) payload for mapping interiors and subterranean on an Unmanned Ground Vehicle https://erdc-library.erdc.dren.mil/items/576c9ddd-bcb9-4bc7-92de-ad42caadcb69 2021 ROS integrated object detection for SLAM in unknown, low...