Autonomy Stack

This repository contains ROS 2 software for an autonomous mobile-robot project. It combines mapping and localization, mission planning, camera/lidar perception, Nav2 control, docking, collision-safe escape behavior, shared ROS interfaces, and a multi-robot evaluation harness.

Demo

Prediction-aware avoidance in simulation: the robot predicts the other robot's motion, updates its global path, and follows the safer route around it.

The export is intentionally source-only. It contains no robot-vendor source, mission-server source, credentials, trained models, maps, ROS bags, experiment recordings, build products, or internal development logs.

Robot detector

Robot detection with YOLO11, exported to TensorRT FP16 and running at about 5.8 ms per frame on the robot's Jetson Orin Nano. Detections, combined with stereo depth, feed three particle filters that estimate each of the other robots' position, speed and likely destination dock; the planner uses those predictions to route around them.

Packages

Package	Purpose
interfaces	Shared messages for missions, docks, predictions, health, trajectories, and coordination
slam	slam_toolbox/AMCL integration, dock-tag mapping, snapshots, and wheel/IMU odometry
planning	Mission adapter, dock occupancy, autonomous exploration, and camera coverage
control	Nav2 coordinator, docking adapter, collision-safe escape, and hardware command handling
control_docking	Open Navigation docking plugin for tag-relative non-charging docks
control_mppi_critic	Prediction-aware MPPI critic plugin
perception	Detector adapters, multi-cue ranging, tracking, prediction, and dock-state inference
sim	Multi-robot simulation and evaluation code; requires an external robot simulation package

Supported environment

• Ubuntu 24.04
• ROS 2 Jazzy
• Nav2 Jazzy
• Gazebo Harmonic
• Python 3.12

The core packages use standard ROS 2 and Nav2 interfaces. The simulation and hardware launch profile are integration adapters: users must provide their own robot description, Gazebo bringup, sensor drivers, mission service, and model files. Those dependencies are deliberately not included here.

Build

mkdir -p ~/autonomy_ws/src
cd ~/autonomy_ws/src
git clone YOUR_GITHUB_URL einride-stack
cd einride-stack
./tools/fetch_dependencies.sh

cd ~/autonomy_ws
source /opt/ros/jazzy/setup.bash
export PYTHONNOUSERSITE=1
rosdep install --from-paths \
  src/einride-stack/interfaces \
  src/einride-stack/slam \
  src/einride-stack/planning \
  src/einride-stack/control \
  src/einride-stack/control_docking \
  src/einride-stack/control_mppi_critic \
  src/einride-stack/perception \
  src/einride-stack/vendor_src/m-explore-ros2/explore \
  src/einride-stack/vendor_src/m-explore-ros2/explore_lite_msgs \
  --ignore-src -r -y
colcon build --symlink-install \
  --base-paths src/einride-stack \
  --packages-up-to interfaces slam planning control \
    control_docking control_mppi_critic perception explore_lite

The sim package is skipped in the public core build because its robot model and bringup packages are external. Build it after supplying equivalent integration packages and adapting its launch and model references to your platform.

Tests

source /opt/ros/jazzy/setup.bash
export PYTHONNOUSERSITE=1
source ~/autonomy_ws/install/setup.bash
colcon test --packages-select interfaces slam planning control \
  control_docking control_mppi_critic perception
colcon test-result --verbose

PYTHONNOUSERSITE=1 prevents unrelated packages installed under ~/.local from overriding the Python libraries supplied with ROS 2 and Ubuntu.

Integration boundary

The autonomy packages consume standard ROS lidar, RGB/depth image, camera-info, joint-state, IMU, odometry, occupancy-grid, TF, and Nav2 interfaces. The optional simulation adapter requires a separately supplied robot description and simulator bringup. Its package manifest, world launch, model resolver, and truth entity names must be adapted to a different robot.

The mission service remains behind a small HTTP adapter. Supply a compatible external service with --mission-source or AUTONOMY_MISSION_SOURCE, or replace the adapter with manual goals. Hardware parameters are examples and must be measured on the target platform. The collision monitor must remain the final publisher to the physical velocity command topic.

Configuration and credentials

All physical values are ROS parameters with units and comments in config/. Credentials are accepted only through runtime environment variables. Do not put tokens, passwords, model files, maps, snapshots, or recordings in this repository. Run ./tools/publication_audit.sh before publishing or deploying.

License

Project source in this export is licensed under Apache License 2.0. External dependencies retain their own licenses and are fetched separately.