🚚 AMR-Based Sensing in Smart Warehouse – Simulation (Milestone 1)

This repository contains the simulation environment and Docker setup for Milestone 1 of the Autonomous Mobile Robot (AMR)-Based Sensing in Smart Warehouse project, developed for the United Nations World Food Programme (WFP) in collaboration with FITT IIT Delhi.

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📌 Project Overview

The AMR is designed to autonomously navigate warehouse aisles, avoid obstacles, and collect environmental data (temperature, humidity, CO₂, O₂, airflow, smoke) in real time.
Data is transmitted via MQTT to a cloud dashboard for warehouse condition monitoring.

• Payload Capacity: 100 kg
• Dimensions: 650×550×4100 mm (rod stretched), 650×550×2000 mm (rod retracted)
• Simulation Goal: Validate navigation, SLAM, sensing, and communication pipeline before hardware deployment.

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🛠 Features

• ROS 2 Humble + Gazebo Harmonic environment
• Navigation (Dijkstra/A*, DWA/TEB) via Nav2
• SLAM using Cartographer / slam_toolbox
• Obstacle avoidance with LiDAR + RGB-D
• Environmental sensing data simulation
• MQTT + ROS 2 DDS communications
• Backend-ready hooks for FastAPI/InfluxDB dashboard

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🏗 System Architecture For Hardware Make

Modules:

• Perception: LiDAR, RGB-D camera, simulated sensors
• Localization & Mapping: SLAM + EKF odometry fusion
• Navigation & Control: Global & local planners, velocity control
• Actuation: Differential drive control
• Data Collection: Periodic environmental sampling
• Communication: Wi-Fi (MQTT, DDS)
• Backend: ROS nodes → MQTT broker → Web dashboard

Data Flow:

1. Sensors → ROS topics
2. EKF localization → Map + Pose
3. Planner → Velocity commands
4. Drive → Differential motor control
5. MQTT → Cloud database + Dashboard
6. Optional alerts on threshold breaches

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📦 Dependencies

1. Core Requirement

• Docker ≥ 20.10
  Install Docker if not already installed.

2. Installed Inside the Docker Image

From the provided Dockerfile:

• Base OS & Framework
  • Ubuntu 22.04 (via ros:humble base image)
  • ROS 2 Humble (desktop version)
• Simulation
  • Gazebo Harmonic (gz-harmonic)
  • ros-humble-gazebo-ros-pkgs
  • ros-humble-gazebo-ros2-control
  • ros-humble-ros-gzharmonic
• Navigation & Mapping
  • ros-humble-nav2-bringup
  • ros-humble-rtabmap-ros
• Development Tools
  • build-essential
  • cmake
  • python3-colcon-common-extensions
  • python3-rosdep
  • python3-pip
• Utilities
  • curl
  • lsb-release
  • gnupg
  • sudo
• ROS Dependency Management
  • rosdep init and rosdep update pre-configured

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🔧 Build & Run Instructions

1️⃣ Build the Docker Image

./build.sh

2️⃣ Allow X11 Access (Linux host)

xhost +local:docker

3️⃣ Run the Container

./run.sh

4️⃣ Build the Workspace (Inside Container)

colcon build --symlink-install
source install/setup.bash

5️⃣ Launch the Simulation

ros2 launch mr_robot_gazebo sim_world.launch.py 

CAD Snapshots

Front View	BACK View

CHASSIS ISOMETIC	Chassis Close-up