Migrating and testing a mobile robot driver

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The project involves the migration and testing of the drivers of a mobile robot called Otto, from ROS to ROS2.
Although ROS is still extremely prevalent within the robotics community, it lacks some of the most important requirements, such as real-time, safety, certification and security, and in a few years is going to be deprecated.
The goal of my internship was to migrate Otto's driver from ROS to ROS2, keeping phyton as the node programming language and migrating the launch files from XML format to phyton.
I also tested the correct functioning of Otto's localization and mapping system using the new version of SLAM_gmapping adapted to ROS2.