🤖 Warehouse Pick-and-Drop Robot (ROS 2 Simulation)

This project simulates a simple warehouse robot using ROS 2 and Gazebo. The robot moves between pick-up and drop-off zones in a virtual warehouse, mimicking basic logistics behavior.

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✅ Project Status

📅 Last Updated: July 25, 2025

What’s Done:

• ✅ Created ROS 2 workspace warehouse_ws
• ✅ Created a ROS 2 package warehouse_bot using ament_python
• ✅ Basic launch system in place using launch.py
• ✅ Simple Gazebo world loaded with a red drop-off box
• ✅ Basic 2-wheeled differential drive robot URDF designed
• ✅ Robot successfully spawns in Gazebo world
• ✅ Custom pick_and_place Python node simulates the task with terminal logs

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⚠️ Known Issues

• 🚧 Robot model looks disfigured and has unnecessary flaps
• ⚠️ Motion appears random or unrealistic
• ❗ Differential drive physics plugin not yet added
• 🚫 No real object pickup or drop-off animation (just simulated via print logs)

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📋 To-Do List (Next Steps)

Priority	Task
🔧	Fix robot model: clean up URDF for correct dimensions and alignment
⚙️	Add diff_drive_controller plugin for proper movement
📦	Simulate picking/dropping objects visually
🧭	Add Nav2 stack for navigation between waypoints
🗺️	Build a realistic warehouse world layout with shelves and barriers
🧠	Optional: Add AI for dynamic task queuing or multi-robot setup

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🛠️ Tools Used

• ROS 2 Humble
• Gazebo Classic
• Python (rclpy)
• URDF (robot model)
• RViz (to be added)
• Navigation2 (Nav2) (future)

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🚀 How to Run

# Terminal 1: Launch Gazebo world
ros2 launch warehouse_bot warehouse_launch.py

# Terminal 2: Spawn robot in the world
ros2 launch warehouse_bot spawn_robot.launch.py

# Terminal 3: Run pick-and-place routine
ros2 run warehouse_bot pick_and_place