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Full ROS 2 Architecture – warehouse_simulation-main

Packages:

  • custom_world_pkg → launches Gazebo with warehouse models
  • path_planner_pkg → handles Nav2 stack and goal navigation

Nodes Identified

Node Name Source Description
/gazebo Gazebo Simulator Physics & visualization engine
/robot_state_publisher Auto-started in Gazebo Publishes joint TF from URDF
/mission_executor mission_executor.py in path_planner_pkg Sends goals to /navigate_to_pose
/map_server Nav2 (launched via planner.launch.py) Publishes static map
/amcl Nav2 localization Computes robot pose on map
/planner_server Nav2 plugin Plans global path
/controller_server Nav2 plugin Executes local path
/nav2_bt_navigator Nav2 behavior tree Orchestrates full navigation
/rviz2 Visualization GUI for maps, robot, goals

Topics Flow

Topic From → To Notes
/navigate_to_pose/_action/goal mission_executor → nav2_bt_navigator Sends goal coordinates
/map map_server → amcl, rviz2 Occupancy map for localization and display
/scan gazebo (LiDAR plugin) → amcl Simulated 2D LiDAR
/amcl_pose amcl → nav2_bt_navigator Robot pose estimate
/plan_request nav2_bt_navigator → planner_server Global path request
/path planner_server → controller_server Path handoff
/cmd_vel controller_server → gazebo Robot wheel commands
/tf robot_state_publisher → rviz2 Robot transforms
/feedback nav2_bt_navigator → rviz2 Goal feedback
/joint_states gazebo → robot_state_publisher Joint info for TF

How the System Flows

[mission_executor.py]
     |
     v
[navigate_to_pose] --[BT]--> [planner_server] --> [controller_server] --> [cmd_vel] --> [gazebo]

[amcl] <-- [scan] + [map] <-- [map_server]
    |
   [amcl_pose] --> [nav2_bt_navigator]

[tf], [map], [feedback] --> [rviz2]

Diagram: Visual ROS2 Graph

📷 ROS2 Architecture Diagram

Summary

The simulation launches: - A robot inside a Gazebo warehouse - Sends goals from a custom node (mission_executor) - Uses the standard Nav2 stack to plan and navigate autonomously - RViz2 for visualization and debugging