🏭 Warehouse Simulation

A ROS 2 and Gazebo-based warehouse simulation for mapping, localization, and autonomous navigation using the Nav2 stack with a Scuttle robot.

---

📌 Overview

This repository demonstrates a complete autonomous mobile robot workflow inside a simulated warehouse environment.

The project includes:

• 🏭 Warehouse simulation in Gazebo
• 🗺️ SLAM-based map generation
• 📍 Localization using AMCL
• 🧭 Autonomous navigation using Nav2
• 🚧 Keepout mask support for restricted zones
• 🎯 Waypoint-based navigation
• 🖥️ RViz visualization
• 🎮 Keyboard teleoperation

---

✨ Features

• 🤖 Scuttle robot simulation
• 🗺️ Real-time warehouse mapping
• 📡 Nav2 navigation stack integration
• 🚧 Keepout zone filtering
• 🎯 Autonomous waypoint navigation
• 🖥️ Preconfigured RViz setup
• 🎮 Manual teleoperation support
• 🧩 Modular ROS 2 workspace structure

---

🛠️ Tech Stack

Tool / Framework	Purpose
ROS 2 Humble	Robot middleware
Gazebo	Warehouse simulation
Nav2	Autonomous navigation
SLAM Toolbox	Mapping
RViz2	Visualization
Python	Helper scripts and waypoint navigation
Colcon	ROS 2 workspace build tool

---

📂 Repository Structure

Warehouse_Simulation/
├── maps/
│   ├── scuttle_slam_map.yaml
│   └── keepout_mask.yaml
│
├── src/
│   ├── scuttle_description_ros2/
│   ├── scuttle_gazebo_ros2/
│   └── scuttle_navigation2/
│
├── build/
├── install/
└── log/

---

💻 System Requirements

• Ubuntu 22.04
• ROS 2 Humble
• Gazebo Classic
• RViz2
• Python 3.10+

---

📦 Dependencies

Install the required packages:

sudo apt update

sudo apt install -y \
  ros-humble-navigation2 \
  ros-humble-nav2-bringup \
  ros-humble-gazebo-ros-pkgs \
  ros-humble-teleop-twist-keyboard \
  ros-humble-slam-toolbox \
  python3-colcon-common-extensions

---

⚙️ Installation and Build

cd ~

git clone https://github.com/Saigirish23/Warehouse_Simulation

cd Warehouse_Simulation

source /opt/ros/humble/setup.bash

colcon build --symlink-install

source install/setup.bash

---

🗺️ Phase 1: Mapping

Use this phase to generate the warehouse map using SLAM.

🚀 Terminal 1: Launch Gazebo

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 launch scuttle_gazebo_ros2 warehouse_launch.py

🧠 Terminal 2: Start SLAM

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 launch scuttle_navigation2 online_async_launch.py

🎮 Terminal 3: Teleoperation

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Use the keyboard to move the robot and explore the warehouse.

📍 Terminal 4: Geotag Recorder

cd ~/Warehouse_Simulation
source install/setup.bash

python3 src/scuttle_navigation2/launch/geotag_recorder.py

🖥️ Terminal 5: RViz

cd ~/Warehouse_Simulation
source install/setup.bash

rviz2 -d src/scuttle_navigation2/config/nav2_scuttle.rviz

💾 Save the Map

After mapping the warehouse, save the generated map:

ros2 run nav2_map_server map_saver_cli -f ~/Warehouse_Simulation/maps/scuttle_slam_map

The map files will be saved inside the maps/ directory.

---

🧭 Phase 2: Navigation

Use this phase to run localization and autonomous navigation.

🚀 Terminal 1: Launch Gazebo

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 launch scuttle_gazebo_ros2 warehouse_launch.py

📡 Terminal 2: Localization with Keepout Mask

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 launch scuttle_navigation2 localization_keepout_launch.py \
  map:=~/Warehouse_Simulation/maps/scuttle_slam_map.yaml \
  keepout_mask:=~/Warehouse_Simulation/maps/keepout_mask.yaml

If lifecycle activation is required:

ros2 lifecycle set /keepout_filter_mask_server activate

🖥️ Terminal 3: RViz

cd ~/Warehouse_Simulation
source install/setup.bash

rviz2 -d src/scuttle_navigation2/config/nav2_scuttle.rviz

Use the 2D Pose Estimate tool in RViz to set the robot’s initial pose before starting navigation.

🧭 Terminal 4: Start Navigation

cd ~/Warehouse_Simulation
source install/setup.bash

ros2 launch scuttle_navigation2 navigation_launch.py

🎯 Terminal 5: Waypoint Navigation

cd ~/Warehouse_Simulation
source install/setup.bash

python3 ~/Warehouse_Simulation/src/scuttle_navigation2/launch/waypoint_navigator.py

The robot will follow predefined waypoints inside the warehouse.

---

🖼️ Visualization

The RViz configuration includes:

• 🤖 Robot model
• 🗺️ Occupancy grid map
• 📡 Laser scan data
• 🧭 Planned path
• 🚧 Local and global costmaps
• 🔗 TF frames 🔗 TF frames