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| 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 | |
| ```bash | |
| # 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 | |
| ```bash | |
| ./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) | |
| ```bash | |
| # 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](docs/VISION.md) — What we are building and why | |
| - [Roadmap](docs/ROADMAP.md) — Phase-by-phase delivery plan | |
| - [Architecture](docs/ARCHITECTURE.md) — System architecture and data flow | |
| - [3D Frontend Guide](docs/guides/3D_FRONTEND_DESIGN.md) — React Three Fiber patterns | |
| - [ROS2 Package Design](docs/guides/ROS2_PACKAGE_DESIGN.md) — Topic naming and URDF structure | |
| - [ML Perception](docs/guides/ML_PERCEPTION.md) — Computer vision pipeline | |
| ## License | |
| **PROPRIETARY / SOURCE AVAILABLE** | |
| See [LICENSE](LICENSE) for full terms. | |