This project simulates a simple warehouse robot using ROS 2 and Gazebo. The robot moves between pick-up and drop-off zones in a virtual warehouse, mimicking basic logistics behavior.
📅 Last Updated: July 25, 2025
- ✅ Created ROS 2 workspace
warehouse_ws - ✅ Created a ROS 2 package
warehouse_botusingament_python - ✅ Basic launch system in place using
launch.py - ✅ Simple Gazebo world loaded with a red drop-off box
- ✅ Basic 2-wheeled differential drive robot URDF designed
- ✅ Robot successfully spawns in Gazebo world
- ✅ Custom
pick_and_placePython node simulates the task with terminal logs
- 🚧 Robot model looks disfigured and has unnecessary flaps
⚠️ Motion appears random or unrealistic- ❗ Differential drive physics plugin not yet added
- 🚫 No real object pickup or drop-off animation (just simulated via print logs)
| Priority | Task |
|---|---|
| 🔧 | Fix robot model: clean up URDF for correct dimensions and alignment |
| ⚙️ | Add diff_drive_controller plugin for proper movement |
| 📦 | Simulate picking/dropping objects visually |
| 🧭 | Add Nav2 stack for navigation between waypoints |
| 🗺️ | Build a realistic warehouse world layout with shelves and barriers |
| 🧠 | Optional: Add AI for dynamic task queuing or multi-robot setup |
- ROS 2 Humble
- Gazebo Classic
- Python (rclpy)
- URDF (robot model)
- RViz (to be added)
- Navigation2 (Nav2) (future)
# Terminal 1: Launch Gazebo world
ros2 launch warehouse_bot warehouse_launch.py
# Terminal 2: Spawn robot in the world
ros2 launch warehouse_bot spawn_robot.launch.py
# Terminal 3: Run pick-and-place routine
ros2 run warehouse_bot pick_and_place