Spaces:

steeltroops-ai
/

ros2-robot-stack

Runtime error

App Files Files Community

ros2-robot-stack / README.md

root

fix(deploy): resolve build error and fix quality gates

ac73c0d about 1 month ago

preview code

raw

history blame contribute delete

5.58 kB

metadata

title: Omniverse - ROS2 Robot Stack
emoji: 🤖
colorFrom: blue
colorTo: indigo
sdk: docker
pinned: false
app_port: 7860

Multi-robot fleet management platform.**

Simulate real hardware robots through ROS 2. Control them through a web-based 3D dashboard. Add AI perception for intelligent autonomy.

Maintained by: Mayank (steeltroops.ai@gmail.com)

What This Is

A full-stack robotics platform that mirrors how real robotics companies build their infrastructure:

ROS 2 Humble for robot simulation and control
Node.js Backend bridging ROS 2 to the web via WebSocket
Next.js Dashboard with real-time 3D visualization (React Three Fiber)
ML Service for computer vision and intelligent perception (PyTorch + FastAPI)

Browser (3D Dashboard) ←→ Node.js Backend ←→ ROS 2 ←→ ML Service

Architecture

Service	Location	Runtime	Purpose
Frontend	`apps/frontend`	Next.js 16	3D Operator Dashboard
Backend	`apps/backend`	Fastify + tsx	ROS 2 Bridge, API, WS
ML Service	`apps/ml-service`	FastAPI + UV	Vision & Inference
Robotics	`robotics/ros2_ws`	ROS 2 Humble	Simulation & Control
Shared	`packages/`	TypeScript	Type Contracts

Supported Robot Types

Robot	Phase	Status
AMR (Mobile)	1	Working
AMR + Nav2	3	Planned
6-DOF Arm	4	Planned
Drone	7+	Planned
Swarm (10+ AMRs)	7	Planned

Quick Start

Prerequisites

WSL 2 (Ubuntu 22.04)
Bun (curl -fsSL https://bun.sh/install | bash)
UV (curl -LsSf https://astral.sh/uv/install.sh | sh)
ROS 2 Humble (installed in WSL)

Setup

# Clone into WSL
cd ~/projects
git clone <repo-url> ros2-robot-stack
cd ros2-robot-stack

# Install dependencies
bun install

# Source ROS 2
source /opt/ros/humble/setup.bash

# Build ROS workspace (first time only)
cd robotics/ros2_ws
colcon build
source install/setup.bash
cd ../..

Run the Full Stack

./scripts/dev-all.sh

This launches:

Frontend: http://localhost:3000
Backend: http://localhost:4000
ROS 2 Mock Robot: Publishing telemetry on /odom, /battery, /map

Manual Launch (Individual Services)

# Terminal 1: ROS 2 Simulation
source /opt/ros/humble/setup.bash
cd robotics/ros2_ws && source install/setup.bash
python3 src/simulation_manager/src/mock_robot.py

# Terminal 2: Backend
cd apps/backend
bun run dev

# Terminal 3: Frontend
cd apps/frontend
bun run dev

Repository Structure

ros2-robot-stack/
├── apps/
│   ├── frontend/          # Next.js + React Three Fiber Dashboard
│   ├── backend/           # Fastify + Socket.IO + rclnodejs Bridge
│   └── ml-service/        # FastAPI + PyTorch ML Service
├── packages/
│   └── shared-types/      # TypeScript type contracts
├── robotics/
│   └── ros2_ws/           # ROS 2 workspace (simulation, nav, arm)
├── infra/
│   └── docker-compose.yml # Docker deployment
├── docs/
│   ├── VISION.md          # Project vision and goals
│   ├── ROADMAP.md         # Phase-by-phase delivery plan
│   ├── ARCHITECTURE.md    # System architecture
│   ├── guides/            # Design guides (3D, ROS, ML)
│   └── planning/          # RFCs and handoff docs
└── scripts/
    └── dev-all.sh         # Launch entire dev stack

Roadmap

Phase	Feature	Status
1	Basic AMR + Telemetry + 2D Map	Complete
2	3D Visualization + Multi-Robot	Next
3	Autonomous Navigation (Nav2)	Planned
4	Robotic Arm + Joint Control	Planned
5	ML Perception + CV Overlay	Planned
6	LLM Natural Language Control	Planned
7	Swarm Robotics (10+ robots)	Planned
8	Production Hardening + Auth	Planned

Tech Stack

Category	Technology
Frontend	Next.js 16, React 19, Tailwind v4, shadcn/ui
3D Rendering	React Three Fiber, Three.js, @react-three/drei
Backend	Fastify, Socket.IO, rclnodejs, tsx
ML/AI	FastAPI, PyTorch, OpenCV, YOLOv8
Robotics	ROS 2 Humble, Nav2, MoveIt2, Gazebo
Package Manager	Bun (Node), UV (Python)
Infrastructure	Docker, PostgreSQL, Redis

Documentation

Vision — What we are building and why
Roadmap — Phase-by-phase delivery plan
Architecture — System architecture and data flow
3D Frontend Guide — React Three Fiber patterns
ROS2 Package Design — Topic naming and URDF structure
ML Perception — Computer vision pipeline

License

PROPRIETARY / SOURCE AVAILABLE See LICENSE for full terms.