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
Status: in progress — target November 2026. <Update this line as it moves; a dated in-progress project is more persuasive than a vague finished one.>
A complete autonomy stack on a differential-drive base, built end to end rather than assembled from a tutorial: URDF and ros2_control hardware interface, wheel-odometry and IMU fusion through an EKF, costmap configuration, and nav2 planner and controller tuning.
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
-
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
Why this project
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.
<Link the repo here once it is public.>