2025 / Project
Domestic Mobile Robot
A complete ROS 2 navigation pipeline for a simulated service robot, from custom robot design and SLAM to Nav2 patrol analysis.
I designed a custom differential-drive domestic robot and built the full autonomy stack around it: simulation, sensing, state estimation, mapping, localization, navigation, waypoint patrol, recording, and offline analysis.
The robot combines 2D LIDAR, an IMU, wheel odometry, Extended Kalman Filtering, SLAM Toolbox, AMCL, Nav2, and a modular ROS 2 launch architecture. The project progressed deliberately through six phases so each subsystem could be validated before integration.
Engineering lessons
- A front caster-wheel change reduced false LIDAR detections—a reminder that mechanical design and perception cannot be debugged independently.
- Sensor QoS profiles and the
map → odom → base_linktransform hierarchy had to be made explicit before localization became stable. - AMCL parameters and Nav2 lifecycle behavior were tuned for reliable autonomous patrol execution.
- Recorded patrol data was replayed to reconstruct trajectories and quantify tracking performance.
The final analysis measured a 0.15 m mean path deviation over the recorded patrol and documented the remaining map–odom jitter under wheel-slip conditions. The public repository includes the ROS 2 workspace, robot description, environments, launch scripts, maps, patrol metadata, exercises, and report sources.