A complete Autonomous Mobile Robot (AMR) simulation built using ROS 2 Jazzy and Gazebo Harmonic, featuring differential drive control, LiDAR and camera integration, SLAM, and autonomous navigation.
Click the gif above to watch the complete SLAM and Navigation demonstration.
This project demonstrates the complete workflow of building an Autonomous Mobile Robot (AMR) from simulation to autonomous navigation.
The robot has been developed entirely in ROS 2 Jazzy and Gazebo Harmonic, providing a modular platform for learning and experimenting with modern robotics concepts including:
- Differential Drive Kinematics
- ROS 2 Control
- Sensor Integration
- SLAM (Simultaneous Localization and Mapping)
- Autonomous Navigation
- RViz Visualization
- Gazebo Simulation
The project is intended to serve as a foundation for more advanced autonomous robotic systems.
| RViz | Gazebo |
|---|---|
 |
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- Differential Drive Mobile Robot
- LiDAR Sensor
- RGB Camera
- ROS2 Control Integration
- TF Tree
- Robot State Publisher
A simple environment used for validating robot movement and system integration.
- Differential Drive Control
- Keyboard Teleoperation
- ROS2 Control
- Gazebo Simulation
Designed to evaluate robot behaviour around static obstacles.
- Obstacle Avoidance Testing
- Turning Validation
- Navigation Experiments
Environment focused on perception and visualization.
- LiDAR Visualization
- Camera Streaming
- RViz Integration
- ros2 bag Support
The robot successfully performs real-time mapping using SLAM Toolbox.
- Online Mapping
- Occupancy Grid Generation
- RViz Visualization
- Map Saving Support
The robot can autonomously navigate to user-defined goals using the ROS 2 Navigation Stack.
- Localization
- Global Path Planning
- Local Planning
- Goal Execution
- Obstacle Avoidance
- ROS 2 Jazzy
- Gazebo Harmonic
- RViz2
- Python 3
- colcon
git clone git@github.com:sam-airobotics/amr-simulation.gitcd amr-simulation/ros2_wscolcon build --symlink-installsource install/setup.bashros2 launch amr_description sim.launch.pyros2 launch amr_slam online_async_launch.pyros2 run teleop_twist_keyboard teleop_twist_keyboardros2 launch amr_nav navigation_launch.py- ✔️ Differential Drive Robot
- ✔️ ROS 2 Control
- ✔️ Camera Integration
- ✔️ LiDAR Integration
- ✔️ TF Tree
- ✔️ RViz Visualization
- ✔️ Gazebo Simulation
- ✔️ SLAM Mapping
- ✔️ Occupancy Grid Generation
- ✔️ Autonomous Navigation
- ✔️ Goal Pose Navigation
- ✔️ Modular ROS 2 Package Structure
| Camera & LiDAR | Robot in Simulation |
|---|---|
 |
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ros2_ws/
├── amr_description/
├── amr_control/
├── amr_slam/
├── amr_nav/
└── ...
- Improved Localization Accuracy
- Dynamic Obstacle Avoidance
- Multi-Robot Simulation
- Path Planning Optimization
- Real Robot Deployment
- Computer Vision Integration
Contributions, suggestions, and feature requests are always welcome.
If you find this project useful, consider giving it a ⭐ on GitHub.
Built with ❤️ using ROS 2 & Gazebo