🤖 ROS 2 Robot Simulation - Fleet Orchestration

Multi-robot fleet management system using ROS 2 Humble and Gazebo Harmonic. Features autonomous navigation with Nav2, dynamic task allocation, conflict resolution, and MQTT bridge for external integration.

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🏗️ System Architecture

External Systems (MQTT/REST)
          │
          ▼
┌─────────────────────────────────┐
│    Fleet Orchestrator Node      │ /fleet/task_command
│  - Task allocation              │ /fleet/status
│  - Conflict resolution          │ /fleet/emergency_stop
│  - Status monitoring            │
└──────┬──────────────────────────┘
       │  Nav2 Action Goals
       ▼
┌──────────────────────────────────────────┐
│         Individual AMR Nodes             │
│  AMR_01 │ AMR_02 │ AMR_03               │
│  Nav2   │ Nav2   │ Nav2                 │
│  SLAM   │ SLAM   │ SLAM                 │
└──────────────────────────────────────────┘
          │
          ▼
   Gazebo Harmonic Simulation
   (Warehouse environment)

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📁 Project Structure

ros2-robot-simulation/
├── src/
│   ├── fleet_orchestrator/
│   │   ├── orchestrator_node.py   # Main fleet coordinator (ROS 2 Node)
│   │   ├── task_allocator.py      # Nearest-robot task assignment
│   │   ├── robot_registry.py      # Robot state tracking
│   │   └── conflict_resolver.py   # Spatial conflict detection
│   ├── amr_navigation/
│   │   ├── navigator_node.py      # Per-robot Nav2 interface
│   │   ├── waypoint_follower.py   # Multi-waypoint mission execution
│   │   ├── docking_controller.py  # Charging dock approach
│   │   └── config/nav2_params.yaml
│   ├── mqtt_ros2_bridge/
│   │   ├── bridge_node.py         # MQTT <-> ROS 2 topic bridge
│   │   └── message_mapper.py      # JSON <-> ROS msg conversion
│   └── simulation_worlds/
│       ├── worlds/warehouse.sdf   # Gazebo warehouse world
│       ├── models/amr_robot/      # AMR robot model
│       └── launch/
│           ├── simulation.launch.py
│           └── fleet.launch.py
├── scripts/
│   ├── spawn_robot.py             # CLI: spawn robots in sim
│   ├── send_goal.py               # CLI: send navigation goal
│   └── fleet_status.py            # CLI: monitor fleet
├── docker/
│   ├── Dockerfile.ros2
│   └── docker-compose.yml
└── README.md

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🚀 Quick Start

Using Docker (Recommended)

git clone https://github.com/dhanushhhhh01/ros2-robot-simulation.git
cd ros2-robot-simulation

# Build and launch simulation
docker-compose up -d

# Open Gazebo GUI
xhost +local:docker
docker exec -it ros2_sim ros2 launch simulation_worlds simulation.launch.py

Native ROS 2 Setup

# Source ROS 2
source /opt/ros/humble/setup.bash

# Build workspace
colcon build --symlink-install
source install/setup.bash

# Launch full fleet simulation
ros2 launch simulation_worlds fleet.launch.py fleet_size:=3

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📡 Topics & Actions

Topic/Action	Type	Direction	Description
/fleet/task_command	std_msgs/String	IN	JSON task command
/fleet/status	std_msgs/String	OUT	Fleet status JSON
/fleet/emergency_stop	std_msgs/Bool	IN	E-stop trigger
/amr_XX/navigate_to_pose	nav2_msgs/NavigateToPose	Action	Per-robot Nav2 goal
/amr_XX/odom	nav_msgs/Odometry	OUT	Robot pose

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🎯 Send a Navigation Goal

# Send task via CLI
python3 scripts/send_goal.py \
  --robot amr_01 \
  --x 5.0 --y 3.0 --yaw 0.0 \
  --task_id PICK_001

# Monitor fleet
python3 scripts/fleet_status.py --rate 2

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📬 Author

Dhanush Ramesh Babu | LinkedIn | MSc. Industry 4.0 @ SRH Berlin | 🟢 Open to Werkstudent/Internship