This repository contains the implementation of an application for the control and interaction of fleets of robots (Multi-Robot Coordination), focused on autonomous navigation and the execution of tasks (patrol, cleaning, and delivery) using ROS2 and OpenRMF framework, developed at AMTC laboratories in Santiago de Chile. The system enables multiple robots to:
- Navigate autonomously in complex environments
- Coordinate tasks efficiently
- Perform real-time obstacle detection
- Generate maps using LiDAR-based SLAM (Cartographer ROS2)
Simulations were designed to generate, analyze, and validate data, ensuring the reliability of the system in real-world-like scenarios.
The system is organized into modular components for scalability and maintainability:
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ROS2 Nodes
- Python and C++ nodes for navigation (Nav2), obstacle detection, and task scheduling
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Mapping & SLAM
- Environment mapping using Cartographer ROS2
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Multi-Robot Coordination
- Task allocation and coordination with OpenRMF and OpenTCS
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Simulation & Validation
- Gazebo for 3D environment simulation
- RViz for visualization and monitoring
- Real-time multi-robot coordination in simulated environments
- Environment maps generated with LiDAR
- Navigation and obstacle avoidance validated through data logging and visualization
