ros2_mir_nav2_pick_place

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ros2_mir_nav2_pick_place

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A complete ROS 2 Jazzy workspace for simulating, controlling, and navigating a MiR 100 mobile robot in Gazebo Harmonic, featuring Nav2 integration and an autonomous pick-and-place orchestrator.

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# ros2_mir_nav2_pick_place

A comprehensive ROS 2 workspace for simulating, controlling, and navigating a **MiR 100** mobile robot in Gazebo Harmonic. This repository includes complete packages for differential drive control, SLAM, Nav2 integration, and a custom orchestrator for pick-and-place missions. It features an **interactive RViz GUI** for dispatching missions and selecting pick/place poses directly from the map.

> **Note:** The foundational URDF model for the MiR 100 used in this project was sourced and adapted from the [URDF dataset GitHub repository](https://github.com/Daniella1/urdf_files_dataset).

## System Requirements

* OS: Ubuntu 24.04 (Noble)
* ROS 2 Version: Jazzy Jalisco
* Simulation: Gazebo Harmonic

### Key Dependencies

Install the required ROS 2 packages before building the workspace:

```bash
sudo apt update
sudo apt install -y ros-jazzy-ros2-control ros-jazzy-ros2-controllers \
                    ros-jazzy-gz-ros2-control ros-jazzy-ros-gz-sim \
                    ros-jazzy-ros-gz-bridge ros-jazzy-ros-gz-interfaces \
                    ros-jazzy-navigation2 ros-jazzy-nav2-bringup \
                    ros-jazzy-slam-toolbox ros-jazzy-robot-state-publisher \
                    ros-jazzy-xacro ros-jazzy-rviz2
```

## Repository Structure

The workspace is divided into modular packages:

* `mir_description`: Xacro/URDF robot modeling, including definitions for differential drive chassis, Sick LiDAR, Realsense D435 RGB-D camera, and IMU.
* `mir_control`: Controllers configuration and launch files for `ros2_control` and diff-drive kinematics.
* `mir_gazebo`: Simulation environments, including a custom maze world designed for Gazebo Harmonic.
* `mir_navigation`: Navigation stack configurations, including Nav2 parameter files, SLAM Toolbox launch files, behavior trees, custom map files, and RViz2 profiles.
* `pick_place_interfaces`: Custom ROS 2 action (`PickPlaceMission`) and service (`SpawnObject`, `ExecuteMission`) definitions used by the orchestrator.
* `pick_place_orchestrator`: Python-based nodes including an Object Manager for Gazebo entity manipulation and an Orchestrator state machine that interfaces with Nav2 for autonomous task sequencing.

## Building the Workspace

Clone the repository into your workspace's `src` directory, then build using `colcon`:

```bash
# Navigate to the root of your workspace
cd ~/projects/Mobile_Robot

# Build the packages
colcon build --symlink-install

# Source the overlay
source install/setup.bash
```

## Launch Files Reference

The project provides several launch files, ranging from standalone component tests to full end-to-end simulations.

### `pick_place_orchestrator`

* **`pick_place_sim.launch.py`**: The primary full-system simulation. Launches the Gazebo maze, Nav2 stack with a static map, robot description, controllers, and the pick-and-place orchestrator nodes for an end-to-end mission.
  
  <img width="480" height="270" alt="Pick and Place Demo" src="https://github.com/user-attachments/assets/df273984-ecd8-43da-b786-f4daa056a523" />
  
  ```bash
  ros2 launch pick_place_orchestrator pick_place_sim.launch.py headless:=false use_rviz:=true
  ```
* **`pick_place.launch.py`**: Starts the standalone pick-and-place nodes (Object Manager and Orchestrator) without launching Gazebo or the navigation stack.
  ```bash
  ros2 launch pick_place_orchestrator pick_place.launch.py
  ```

### `mir_navigation`

* **`navigation_sim.launch.py`**: Launches the Gazebo simulation and Nav2 stack with AMCL and a static map for autonomous navigation testing, without the orchestrator.
  
  <img width="480" height="270" alt="Navigation Demo" src="https://github.com/user-attachments/assets/45d7d024-ea23-4b08-ba3d-f3d73878c7ff" />
  
  ```bash
  ros2 launch mir_navigation navigation_sim.launch.py
  ```
* **`slam.launch.py`**: Launches the Gazebo simulation with `slam_toolbox` in asynchronous mode, allowing the robot to map the maze environment dynamically.
  ```bash
  ros2 launch mir_navigation slam.launch.py
  ```
* **`navigation.launch.py`**: Launches the core Nav2 stack nodes (AMCL, Planner, Controller, Recoveries) using predefined parameters. Usually called by other wrapper launch files.
  ```bash
  ros2 launch mir_navigation navigation.launch.py
  ```
* **`rviz.launch.py`**: Standalone launch file for RViz configured with the `navigation.rviz` display settings.
  ```bash
  ros2 launch mir_navigation rviz.launch.py
  ```

### `mir_gazebo`

* **`spawn_maze.launch.py`**: Launches the Gazebo Harmonic maze world, spawns the MiR robot model, and starts the ROS-Gazebo bridge for topics and TF.
  ```bash
  ros2 launch mir_gazebo spawn_maze.launch.py
  ```

### `mir_control`

* **`mir_control.launch.py`**: Loads and starts the `diff_drive_controller` and `joint_state_broadcaster` via `ros2_control`.
  ```bash
  ros2 launch mir_control mir_control.launch.py
  ```

### `mir_description`

* **`display.launch.py`**: Launches RViz with a `joint_state_publisher_gui` to visualize the MiR robot's URDF/Xacro standalone.
  ```bash
  ros2 launch mir_description display.launch.py
  ```

## License

This project is licensed under the MIT License.

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