Aug 19, 2026
10 min
When Multiple AMRs Share One Warehouse
Namespaces, a shared map, traffic, deadlock, and mission management across a fleet.
Topic
ROS 2
Posts under this topic.
Aug 19, 2026
8 min
Controlling an AMR from Outside ROS 2
The seam between a robot and the system that dispatches it: missions, commands, status and telemetry.
Aug 19, 2026
9 min
Turning the AMR into a Real Service Robot
Payload handling, a lift, a signal tower, an operator interface, and diagnostics.
Aug 19, 2026
9 min
Teaching the AMR to Find Its Charging Station
Battery state triggers a return, dock detection aligns the approach, and charging closes the loop.
Aug 19, 2026
8 min
A Safety System the Robot Couldn't Escape From
A real deadlock: protective stop triggers, the robot stops, and the command that would clear it is blocked by the stop itself.
Aug 19, 2026
9 min
Building a Safety System for the AMR
Warning and protective fields, speed scaling, protective stop, E-stop, and command priority.
Aug 19, 2026
9 min
It Can Navigate — But Why Does It Still Fail?
Benchmarking many goals, and tracing failures back through localisation, map, footprint and controller.
Aug 19, 2026
9 min
Teaching the AMR to Go to a Target
Nav2: goal in, path planned, path followed, obstacles avoided, /cmd_vel out.
Aug 19, 2026
9 min
How Does the AMR Know Where It Is?
Particle-filter localisation: matching live LiDAR against a saved map to correct accumulated drift.
Aug 19, 2026
8 min
How Does the AMR Know How It Moved?
Wheel odometry, its failure modes, and fusing it with the IMU through an EKF.
Aug 19, 2026
9 min
The Map Looks Good — But Is It Actually Good?
Measuring a SLAM map instead of eyeballing it: coverage, accuracy, and when it is good enough for navigation.
Aug 19, 2026
10 min
Teaching the AMR to Build Its Own Map
LiDAR plus odometry plus TF, through slam_toolbox, into an occupancy grid.
Aug 19, 2026
7 min
Reading the AMR's Battery with ROS 2
Talking to a DALY BMS over serial and publishing pack telemetry as sensor_msgs/BatteryState.
Aug 19, 2026
9 min
Giving the AMR Eyes with LiDAR
How a 2D scanner works, what a LaserScan contains, and getting the first obstacle to appear in RViz.
Aug 19, 2026
11 min
Giving the AMR a Sense of Motion
What an IMU measures, how a 3DM-GX5-AHRS reaches ROS 2, and why wheel odometry alone is not enough.
Aug 19, 2026
7 min
One ROS 2 Interface for the Real Robot and Simulation
Same commands, same controllers, same odometry — only the hardware layer swaps.
Aug 19, 2026
8 min
Turning the AMR into a Digital Robot
Putting the URDF into Gazebo with differential drive and controllers, so the robot can be tested without leaving the desk.
Aug 19, 2026
9 min
Building the AMR in URDF
Describing the robot's body to ROS 2 — links, joints, frames, and one source of truth for every dimension.
Aug 19, 2026
9 min
Driving the AMR with a Logitech F710
Joystick control through ROS 2 joy and twist_mux — and the three safety rules that come from the pad being wireless.
Aug 19, 2026
11 min
Making the AMR Move for the First Time
Motors, wheels and controller onto the platform — wiring, power checks and the first movement under ROS 2 control.
Aug 19, 2026
11 min
Testing the Drive System on the Bench
Getting two BLDC motors to turn from ROS 2 over RS485 — finding the link, reading the protocol, and the two numbers that scale everything …
Aug 19, 2026
12 min
I'm Building an AMR from Zero
What BEEBOT2 is, what hardware and software go into it, and what the robot will be able to do by the end of the series.