Autonomous Mobile Robot (AMR)

Differential-drive autonomous mobile robot built on ROS 2 Humble with a Raspberry Pi and an ESP32 linked over micro-ROS (Wi-Fi). It maps its surroundings with SLAM Toolbox using an RPLIDAR A1 and navigates autonomously with Nav2.

Built by the Robotics Society, IIT Jodhpur (core team 2026–27)

RPLIDAR A1 → Raspberry Pi (ROS 2: SLAM Toolbox, Nav2, odometry) ⇄ micro-ROS over Wi-Fi ⇄ ESP32 (wheel PID + encoders) → Cytron driver → motors

Repository structure

Folder	What's in it	Start here if you want to...
final-product/	The deployed robot: ROS 2 workspace, ESP32 firmware, bringup script, maps, architecture diagrams, hardware and calibration notes, demo videos, CAD	run the robot or continue developing it
learning/	The iteration phase: every team member's original work folders, the approaches that were tried (software and hardware) and why the final ones were chosen, test videos	understand how and why the design ended up this way
resource-guide/	Curated learning resources: ROS 2, TF, differential-drive kinematics, PID, micro-ROS, SLAM, Nav2	learn the background before touching the code

Quick start (on the robot's Raspberry Pi)

git clone <repo-url> ~/amr-repo
ln -s ~/amr-repo/final-product ~/amr
cd ~/amr
scripts/install_deps.sh && scripts/build.sh
./amr_bringup.sh            # robot + Nav2 on the saved map

Full instructions, including flashing the ESP32: final-product/README.md.

Team

The work was split into verticals (details and timeline: learning/project-log.md).

Vertical	Worked on	Members
R1 SLAM	RPLIDAR driver, SLAM Toolbox	TODO
R2 Controller & HW interface	differential drive controller (amr_diff_drive)	TODO
R3 micro-ROS communication	ESP32 ⇄ Pi link, topic formats	TODO
R4 Nav2	navigation configuration	TODO
E1 Motor control	ESP32 wheel PID and PWM	TODO
E2 Encoder / decoder	encoder decoding and calibration	TODO
HW / CAD	chassis, 3D-printed mounts	TODO