Due to the increasing complexity of activities performed in human-robot interaction systems, it is essential to develop structures and methodologies for the reproducible and rigorous production of new robotic systems. In this context, this paper presented an electronic architecture to facilitate the modularity and scalability of robotic systems. The developed architecture was applied to two smart walkers (R1 and R2), using ROS and ROS2, for validation and evaluation based on technical analyses and user experience. Positive results were obtained for the technical analysis, with a maximum standard deviation of 13.24% for R1 and 7.43% for R2 within the specified frequency. Additionally, the degree of acceptability of the devices was satisfactory according to the System Usability Scale (SUS). With this, it is possible to conclude that the architecture is functional and yields better results when implemented using ROS 2.
