OpenAMR Platform Software

ROS 2 software, simulation, navigation, docking, control, drivers, and bringup for the OpenAMRobot mobile robot platform.

Repository status

Current maturity level: Experimental

This repository is under active development and serves as the main software repository for the OpenAMR mobile robot platform.

The project is intended for research, education, prototyping, and gradual development toward industrial-grade autonomous mobile robot capabilities.

Current ROS 2 packages

ros2/src/
├── openamrobot_description/
├── openamrobot_gazebo/
├── openamrobot_nav2/
└── openamrobot_docking/

Planned ROS 2 packages

These directories are architecture placeholders and will become active ROS 2 packages when real functionality is added.

ros2/src/
├── openamrobot_bringup/
├── openamrobot_control/
├── openamrobot_drivers/
└── openamrobot_perception/

Package responsibilities

openamrobot_description  -> robot model, URDF/Xacro, meshes, frames, sensors
openamrobot_gazebo       -> Gazebo/Gazebo Sim simulation, worlds, models, simulation launch
openamrobot_nav2         -> Nav2 configuration, maps, planners, controllers, navigation launch
openamrobot_docking      -> autodocking logic, docking nodes, docking configuration, docking launch

openamrobot_bringup      -> planned top-level launch composition
openamrobot_control      -> planned control integration and controller configuration
openamrobot_drivers      -> planned hardware driver integration
openamrobot_perception   -> planned perception modules and perception pipelines

Each package should own only its own responsibility. Packages may reference each other, but they should not duplicate each other’s files.

Repository boundaries

This repository contains platform software only.

Hardware design files belong in:

openamr-platform-hw

Firmware belongs in:

openamr-platform-fw

Organization-wide documentation belongs in:

openamrobot-docs

Shared ROS 2 messages, services, and actions belong in:

openamrobot-interfaces

Shared communication contracts belong in:

openamrobot-comm

User/operator interface belongs in:

openamrobot-ui

Getting started

Clone the repository:

git clone https://github.com/openAMRobot/openamr-platform-sw.git
cd openamr-platform-sw

Build the ROS 2 workspace:

cd ros2
source /opt/ros/jazzy/setup.bash
colcon build
source install/setup.bash

Build a selected package:

colcon build --packages-select openamrobot_docking

Development in GitHub Codespaces

1. Open the repository on GitHub.
2. Click Code.
3. Open the Codespaces tab.
4. Create a codespace from main.
5. Create a feature branch before making changes.

git checkout -b feature/your-feature-name

Before committing:

git status
git diff --stat

Do not commit generated folders such as:

build/
install/
log/
ros2/build/
ros2/install/
ros2/log/

Contributing

See CONTRIBUTING.md.

Key rule:

A contribution should modify only the package or directory related to the task.

For example, an autodocking contribution should normally modify only:

ros2/src/openamrobot_docking/

Community and discussions

Architecture questions, roadmap ideas, and collaboration topics should be discussed here:

https://github.com/orgs/openAMRobot/discussions

Safety notice

This repository may affect real robot behavior.

Users are responsible for validating:

• robot safety
• navigation behavior
• docking behavior
• motor control behavior
• sensor integration
• deployment suitability
• regulatory compliance

This software is provided for research, education, and development purposes.

License

See LICENSE.