Disaster-Response Mobile Robot

A ROS 2 autonomous mobile robot for disaster-zone response, built on Gazebo simulation with SLAM mapping, Nav2 waypoint navigation, YOLOv8 object detection, anomaly detection, battery monitoring, and a live web dashboard.

Features

• SLAM & Localization — online async SLAM (slam_toolbox) and AMCL localization in a custom Gazebo disaster world
• Autonomous Navigation — Nav2 stack with waypoint missions (e.g. search_sweep)
• Object Detection — YOLOv8 (yolov8n.pt) on the robot's camera feed
• Anomaly Detection — flags unexpected scene content with configurable confidence threshold
• Battery Simulator — publishes simulated battery state for mission-planning logic
• Dynamic Obstacles — moving obstacles injected at runtime to stress-test navigation
• Web Dashboard — live telemetry and camera view in the browser
• RViz & Gazebo — visualisation and simulation out of the box

Repository Layout

.
├── src/articubot_one/        # ROS 2 package (description, launch, config, scripts)
│   ├── launch/               # sim, nav, localization, SLAM, camera, lidar launch files
│   └── scripts/              # anomaly_detector, battery_simulator, object_detector,
│                             # waypoint_navigator, web_dashboard
├── launch_all.sh             # brings up the full stack in separate terminals
├── kill_all.sh               # tears everything down
├── start_*.sh                # individual component launchers
├── disaster_map.{pgm,yaml}   # disaster map generated from the custom world
├── map_republish.py          # republish map on /map topic
└── save_map.sh               # persist the current SLAM map

Requirements

• Ubuntu 22.04
• ROS 2 Humble
• Gazebo Classic
• Nav2, slam_toolbox, AMCL
• Python 3.10+ with ultralytics (YOLOv8), opencv-python, flask (dashboard)

Build

cd ~/Documents/MAR_miniproject
colcon build --symlink-install
source install/setup.bash

Run

Full stack (opens ~10 terminals):

bash launch_all.sh

Individual components:

bash start_sim.sh              # Gazebo simulation
bash start_map.sh              # map server
bash start_rviz.sh             # RViz
bash start_localization.sh     # AMCL
bash start_nav2.sh             # Nav2
bash start_slam.sh             # SLAM (alternative to map+AMCL)
bash start_object_detection.sh # YOLOv8
bash start_anomaly_detector.sh --show --conf 0.2
bash start_dashboard.sh        # web dashboard
bash start_dynamic_obstacles.sh
bash start_waypoints.sh --mission search_sweep
bash start_teleop.sh           # keyboard teleop

Shut everything down:

bash kill_all.sh

Saving Maps

After SLAM, save the current map:

bash save_map.sh

Notes

• yolov8n.pt is not tracked in git — download it from Ultralytics or the package will fetch it on first run.
• SLAM serialized data (mymapserial.*) and build/, install/, log/ are ignored by git.