ROS 2 Jazzy Autonomous Warehouse AMR launches with Nav2
Differential-drive warehouse robot navigates autonomously with ROS 2 Jazzy, Gazebo Harmonic and Nav2 stack
Anastasios03git has released an open-source Autonomous Mobile Robot (AMR) project designed for warehouse automation, built entirely on ROS 2 Jazzy with Gazebo Harmonic simulation. The differential-drive robot leverages Nav2 for navigation, including AMCL localization, robot_localization with EKF for odometry, SmacPlanner2D for global path planning, and Regulated Pure Pursuit for path tracking.
The simulation includes dynamic obstacle handling with a moving warehouse worker detected via GPU-accelerated 2D LiDAR. Nav2 costmaps update in real time to avoid collisions. Missions are defined in YAML files with support for retries, pause/resume, cancellation, and status tracking. A Tkinter-based operator dashboard provides mission selection, progress monitoring, and Nav2 lifecycle status. The entire system launches with a single ROS 2 command and is available on GitHub.
- Uses ROS 2 Jazzy, Gazebo Harmonic, and Nav2 for autonomous warehouse navigation
- Features GPU LiDAR obstacle detection, AMCL localization, and mission management via YAML
- Includes Tkinter operator dashboard and dynamic obstacle avoidance with real-time costmap updates
Why It Matters
Enables rapid development of autonomous warehouse robots with open-source ROS 2 stack, reducing R&D costs and accelerating automation deployments.