Differential-drive AGV navigation stack
EKF localisation and nav2 autonomy on a differential-drive platform. ROS 2 Jazzy, in progress.
stack ROS 2 Jazzy · nav2 · robot_localization (EKF) · ros2_control · Gazebo / MuJoCo
What it demonstrates
- State estimation — EKF fusion of wheel odometry and IMU, and what actually degrades it: wheel slip, unmodelled latency, covariance that is guessed rather than measured.
- Planning and control — global planner and local controller behaviour on a non-holonomic base, and the recovery behaviours that decide whether a robot is usable or merely demonstrable.
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ros2_controlintegration — the same hardware-interface problem as an industrial servo axis, expressed in ROS vocabulary. - Reproducibility — one command to bring the simulation up; anyone can run it.
Build log
- Sep 2026 Dev environment — WSL2, ROS 2 Jazzy, ros2_control current
- Sep 2026 URDF + ros2_control hardware interface
- Oct 2026 EKF wheel-odometry / IMU fusion
- Oct–Nov Costmaps + nav2 planner / controller tuning
- Nov 2026 Repository public milestone
My strongest robotics work dates from 2022. Rather than claim currency, I am rebuilding it in public with the current toolchain — the repository history is the evidence.