Proceedings of TUSUR University / Archive / Issue of Journal № 3, t. 28, 2025 / Architectural Comparison of ROS1 and ROS2 in the Context of Processing LiDAR Point Cloud Data

Architectural Comparison of ROS1 and ROS2 in the Context of Processing LiDAR Point Cloud Data

DOI: 10.21293/1818-0442-2025-28-3-132-138

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Abstract: This paper provides a comparative analysis of the architectural features of ROS1 and ROS2 as applied to the task of pro-cessing LiDAR point clouds. Considering the mining industry's requirements for reliability, scalability, and fault tolerance, the key components of both ROS versions, their architectural dif-ferences, the limitations of ROS1, and the advantages of ROS2 are discussed. Special attention is given to the implementation of the LiDAR data preprocessing pipeline in ROS2, integration with SLAM and object detection modules, as well as DDS configuration and QoS settings. The article also discusses dif-ficul-ties encountered when migrating from ROS1 to ROS2 and offers recommendations for overcoming them, including the use of bridges for joint operation of nodes. The presented results can be useful in designing reliableand efficient control systems for unmanned vehicles operating in open-pit mines and other complex industrial environments.

Keywords: ROS, LiDAR, point cloud, SLAM, pointcloud_preprocessor, RViz

Funding: This work was supported by the Ministry of Science and Higher Education of the Russian Federation under agreement No. 075-15-2022-1198 dated September 30, 2022, with the Kuzbass State Technical University named after T.F. Gorbachev" of the Integrated Scientific and Technical Program of the Full Innovation Cycle "Development and Implementation of a Set of Technologies in the Areas of Exploration and Extraction of Solid Minerals, Industrial Safety, Bioremediation, Creation of New Deeply Processed Products from Coal Raw Materials with a Consistent Reduction of the Environmental Impact and Risks to Population Life" (KNTP "Clean Coal - Green Kuzbass"), approved by the Order of the Government of the Russian Federation dated May 11, 2022 No. 1144-r as part of the implementation of the event "Development and Creation of an Unmanned Shuttle-Type Quarry Dump Truck with a Load Capacity of 220 Tons" in terms of performing research and development work.

For citation:
Korshunova E. V., Syrkin I. S., Sadovets V. Yu. Architectural Comparison of ROS1 and ROS2 in the Context of Processing LiDAR Point Cloud Data. Doklady Tomskogo gosudarstvennogo universiteta sistem upravleniya i radioelektroniki, 2025, vol. 28, no. 3, pp. 132–138. DOI: 10.21293/1818-0442-2025-28-3-132-138

Authors and copyright holders:

Korshunova E. V. , Kuzbass State Technical University named after T.F. Gorbachev (Kemerovo, Russia)
Syrkin I. S. , Kuzbass State Technical University named after T.F. Gorbachev (Kemerovo, Russia)
Sadovets V. Yu. , Kuzbass State Technical University named after T.F. Gorbachev (Kemerovo, Russia)

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