Nav2 Robotnik RB-1 Warehouse Navigation

Objectives

• Create a detailed map of a simulated warehouse environment and implement localization of the RB-1 robot within this map

• Configure and deploy the Nav2 system to manage navigation goals and ensure efficient route planning

• Establish an integrated navigation framework that combines mapping, localization, and path planning capabilities for robust autonomous operation

• Programming Languages: C++, Python

• Frameworks and Libraries: ROS2, Nav2, RViz2

• Simulation Environment: Gazebo

Process and Development

The development process is organized into three main components: mapping, localization, and navigation setup.

Mapping

• Initial Setup: Configured the ROS 2 environment and initiated the Gazebo simulation of the warehouse

• Mapping Implementation: Utilized the Cartographer SLAM package to generate a real-time map of the simulated warehouse environment, which was visualized and verified using RViz2. This mapping process was then replicated on the real robot to ensure consistency and accuracy

Localization

• AMCL Configuration: Set up the Adaptive Monte Carlo Localization (AMCL) algorithm to provide accurate robot positioning within the mapped environment

• Testing and Validation: Performed tests in both simulated and real-world settings to validate the effectiveness of the localization setup and fine-tune the robot’s positioning accuracy

Navigation Setup

• Nav2 Configuration: Integrated and configured the Nav2 stack to effectively manage navigation goals and ensure smooth operation

• Path Planning: Developed a robust path planning system using the Nav2 navigation nodes to enable the RB-1 to navigate autonomously and safely through the warehouse environment, avoiding obstacles and optimizing its route

Results

The successful integration of Nav2 enabled the RB-1 to navigate the warehouse environment and move the shelf to the desired location autonomously.