multi-robot-fleet-ros2

A ROS 2 monorepo for multi-robot fleet management, combining autonomous mobile robots (AMRs), mobile manipulators (UR3), and fleet coordination via Open-RMF.

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Repository Structure

multi-robot-fleet-ros2/
├── mobile_robots/               # AMR navigation and mobile pick-place robots
│   ├── diff_drive_robot-main/   # AMR (Differential Drive) with Nav2 and SLAM
│   └── pickplace_rl_mobile/     # Mobile Manipulator with RL-based pick & place
│
├── manipulation/                # Arm descriptions, MoveIt config, and demos
│   ├── ur_description/          # UR3 URDF/xacro robot description
│   ├── onrobot_description/     # OnRobot gripper description
│   ├── robotiq_description/     # Robotiq gripper description
│   ├── robotiq_2f_85_gripper_visualization/
│   ├── moveit_config/           # MoveIt 2 configuration for UR3
│   └── ur_moveit_demos/         # MoveIt planning and execution demos
│
├── fleet_management/            # Multi-robot fleet coordination
│   └── rmf_demos/               # Open-RMF demos and fleet adapter
│
├── simulation/                  # Gazebo simulation environments
│   └── ur_gazebo/               # Warehouse and pick & place worlds (Gazebo Harmonic/GZ)
│
├── ai_skills/                   # AI-powered robot capabilities
│   ├── ur_smolvla/              # SmolVLA vision-language-action inference
│   └── ur_data_collector/       # Data collection for robot learning
│
├── interfaces/                  # Shared ROS 2 message/service interfaces
│   └── ur_interfaces/
│
├── tests/                       # Integration and system tests
│   └── testing/
│
└── docs/                        # Architecture docs, guides, and notes

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Packages Overview

Mobile Robots & AMRs

Package	Description
diff_drive_robot-main	Autonomous Mobile Robot (AMR) platform with Nav2, SLAM Toolbox, and multi-robot coordination support.
pickplace_rl_mobile	Mobile Manipulator platform using Reinforcement Learning policies for intelligent warehouse pick & place.

Manipulation

Package	Description
ur_description	UR3 robot URDF and xacro description
moveit_config	MoveIt 2 config — planning pipelines, kinematics, controllers
ur_moveit_demos	Demo nodes for planning, execution, and custom motions
robotiq_description	Robotiq 2F-85 gripper URDF
onrobot_description	OnRobot gripper description

Fleet Management

Package	Description
rmf_demos	Open-RMF fleet adapter, task dispatcher, and map demos for heterogeneous fleet coordination.

Simulation

Package	Description
ur_gazebo	Gazebo worlds and simulation setup. Optimized for Gazebo Harmonic (GZ). Includes warehouse and pick & place environments.

AI Skills

Package	Description
ur_smolvla	SmolVLA inference node for vision-language-action control
ur_data_collector	ROS 2 node for collecting training data from robot demos

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Getting Started

Prerequisites

• ROS 2 Humble
• MoveIt 2
• Nav2
• Gazebo Harmonic (GZ)
• Open-RMF Core

Open-RMF Setup (Avoiding Gazebo Conflicts)

If you are using Gazebo Harmonic/GZ, avoid installing the full ros-humble-rmf-dev package as it may conflict with Gazebo Classic. Instead, install the core components:

sudo apt install -y \
  ros-humble-rmf-traffic \
  ros-humble-rmf-traffic-ros2 \
  ros-humble-rmf-fleet-adapter \
  ros-humble-rmf-fleet-adapter-python \
  ros-humble-rmf-fleet-msgs \
  ros-humble-rmf-task \
  ros-humble-rmf-task-ros2 \
  ros-humble-rmf-task-msgs \
  ros-humble-rmf-task-sequence \
  ros-humble-rmf-building-map-msgs \
  ros-humble-rmf-utils \
  ros-humble-rmf-api-msgs \
  ros-humble-rmf-websocket

Build

cd multi-robot-fleet-ros2
colcon build --symlink-install
source install/setup.bash

Launch AMR (Nav2 + SLAM)

ros2 launch diff_drive_robot-main bringup.launch.py

Launch UR3 with MoveIt

ros2 launch moveit_config ur3_moveit.launch.py

Launch Fleet Demo (Open-RMF)

ros2 launch rmf_demos office.launch.xml

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Roadmap

• Multi-robot Nav2 navigation with SLAM
• UR3 MoveIt 2 integration
• Open-RMF fleet coordination demos
• SmolVLA vision-language-action inference
• Centralized heterogeneous fleet dispatcher
• Sim-to-real transfer for RL pick & place policies
• RMF fleet adapter for UR3 mobile manipulator

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Author

darshmenon — github.com/darshmenon