Designed the chassis in Fusion 360, exported to URDF, and built the full stack using ROS 2.
Stack:
Nav2 for navigation & path planning
ArUco-based visual docking for precise alignment
Custom waypoint sequencing for multi-shelf tasks
Gazebo + RViz for simulation & visualization
Challenge:
LiDAR point cloud rotated with the robot in RViz, breaking the mapping and navigation.
Root cause:
odom/TF mismatch during turns.
Fix:
Developed a GroundTruthOdom node using Gazebo pose data to publish stable /odom and consistent TF, including handling ROS-Gazebo timestamp issues.
In the video: robot autonomously services requests for Shelf B and Shelf C and delivers them to the drop-off
zone.
Happy to discuss the system or challenges!
u/Mountain_Reward_1252 — 8 days ago