Robo Nurse – Autonomous Mobile Robot (ROS2 Navigation)

Overview

Robo Nurse is a differential-drive Autonomous Mobile Robot developed using ROS2 Humble for reliable indoor service navigation. The system integrates custom kinematic modeling, PID-based motion control, SLAM-driven mapping, and Nav2-based autonomous planning to enable stable and collision-free autonomous movement in structured indoor environments. The complete navigation stack was validated in both simulation and real-world deployment.

System Architecture

The system follows a modular layered architecture:

Low-Level Control Layer

• Custom odometry computation for differential-drive kinematics
• PID-based velocity control for accurate trajectory tracking
• Real-time tuning for stable motion execution

Localization & Mapping Layer

• SLAM-based map generation
• AMCL-based localization
• LiDAR and wheel-odometry fusion for state estimation

Navigation Layer

• ROS2 Nav2 stack integration
• Global path planning
• Local obstacle avoidance
• Waypoint-based mission execution

Launch

ros2 launch amr_navigation bringup.launch.py

Results

• Achieved stable trajectory tracking through tuned PID control
• Successfully generated consistent 2D maps using SLAM
• Demonstrated reliable autonomous navigation in simulation and hardware

Demonstration

🎥 Hardware Demo: Watch Here