| dc.description.abstract | With the development and specialization of robots, there is a higher demand for the functions of robots. Therefore, many open source robot systems have been born, and ROS (Robot Operating System) is one of them. ROS has its own computer operating system for robotic software development. It is an open source meta-level operating system (post-operating system) that provides a set of kernel services, including hardware description, related driver management, execution of consumption functions, message transfer between programs, and program release package management. It also provides some tools and open source libraries for obtaining, creating, writing and multi-machine integration programs. As the demand for robot automation continues to grow, and to meet different application scenarios such as medical treatment and processing plants in the industry, the action process must rely on the advanced perception of the environmental space of the own vehicle to navigate to a fixed point. At the same time determine the distance between the service object and the robot. This paper is mainly to complete the acquisition of map information and positioning system and add object recognition human skeleton tracking technology based on the motion SLAM technology under the ROS system. This system is mainly divided into two types of sensors: ZED2 depth camera and Lidar. ZED2 mainly provides IMU, RGB color information and map beautification. LiDAR provides a more accurate positioning system and virtual field. | en_US |