Multi-Robot Factory Automation System

A comprehensive ROS-based robotic automation system designed for multi-robot factory environments. This project implements a complete software stack for coordinating mobile robots and manipulators in a simulated industrial setting.

Overview

This system provides an integrated solution for warehouse and factory automation, featuring autonomous navigation, manipulation control, and behavior-based coordination. The implementation leverages modern ROS tools and frameworks to deliver a scalable, modular architecture suitable for real-world industrial applications.

Key Features

• Multi-Robot Coordination: Seamless integration of mobile robots and industrial manipulators
• Autonomous Navigation: SLAM-based mapping and path planning for mobile platforms
• Advanced Manipulation: Motion planning and control using MoveIt! framework
• Computer Vision Integration: Perception capabilities for object detection and tracking
• Behavior Management: FlexBE-based state machine implementation for complex task orchestration
• Gazebo Simulation: High-fidelity physics simulation for testing and validation

System Architecture

Core Components

• Navigation Stack: Implements gmapping for SLAM and move_base for autonomous navigation
• Manipulation System: MoveIt!-based motion planning for robotic arms
• Factory States: Custom state implementations for factory-specific operations
• Vision Processing: TF-based coordinate transformations and sensor fusion
• Behavior Orchestration: FlexBE framework for hierarchical task planning

Robot Models

The system includes complete URDF models with:

• Mobile robot platforms with differential drive kinematics (TurtleBot3)
• Multi-DOF manipulator arms with gripper end-effectors (UR5 and UR10 robotic arms)
• Sensor suites including cameras, LiDARs, and depth sensors

Technical Stack

• ROS Version: ROS Noetic (compatible with ROS Melodic)
• Simulation: Gazebo 11
• Motion Planning: MoveIt! 1.0
• Behavior Trees: FlexBE 2.0
• Languages: Python, C++, XML (URDF/SDF)

Installation

Prerequisites

# ROS Noetic on Ubuntu 20.04
sudo apt-get update
sudo apt-get install ros-noetic-desktop-full
sudo apt-get install ros-noetic-moveit ros-noetic-navigation
sudo apt-get install ros-noetic-flexbe-behavior-engine

Building the Workspace

# Clone the repository
git clone https://github.com/Mark-Moawad/Multi-Robot-Factory-with-ROS.git
cd Multi-Robot-Factory-with-ROS

# Build with catkin
catkin_make

# Source the workspace
source devel/setup.bash

Usage

Launch Factory Simulation

# Start the complete factory environment
roslaunch hrwros_gazebo hrwros_environment.launch

# Launch navigation stack
roslaunch hrwros_week3 turtlebot_navigation.launch

# Start manipulation system
roslaunch hrwros_moveit_config moveit_planning_execution.launch

Running Behavior Trees

# Launch FlexBE for behavior management
roslaunch flexbe_behaviors factory_automation_behavior.launch

Project Structure

src/
├── hrwros/                      # Core factory simulation packages
├── hrwros_factory_states/       # Custom state implementations
├── hrwros_factory_behaviors/    # FlexBE behavior definitions
├── hrwros_gazebo/               # Simulation environments and models
├── hrwros_moveit_config/        # Motion planning configuration
├── hrwros_support/              # URDF models and meshes
└── hrwros_week*/                # Modular feature packages

Features Breakdown

Autonomous Navigation

• Real-time SLAM with occupancy grid mapping
• Dynamic obstacle avoidance
• Multi-waypoint path planning
• Adaptive localization

Robotic Manipulation

• Inverse kinematics solving
• Collision-aware planning
• Trajectory optimization
• Gripper control for pick-and-place operations

Vision System

• Coordinate frame management with TF
• Sensor data fusion
• Object pose estimation
• Camera-based localization

Behavior Control

• Hierarchical state machines
• Event-driven task execution
• Error recovery mechanisms
• Real-time monitoring and control

Development

Adding New States

Custom states can be added to hrwros_factory_states/src/ following the FlexBE state API.

Modifying Robot Models

URDF definitions are located in hrwros_support/urdf/ and can be extended with additional sensors or actuators.

Customizing Behaviors

Behavior trees are defined in hrwros_factory_behaviors/ and can be edited using the FlexBE App.

Contributing

Contributions are welcome! Please follow standard ROS package conventions and include appropriate documentation.

License

This project is licensed under the MIT License.

Contact

For questions or collaboration opportunities, please open an issue on GitHub.

Acknowledgments

Built with ROS (Robot Operating System) and leveraging the open-source robotics community's excellent tools and frameworks.