Mirte-based Lab Cleanup Robot
Autonomous laboratory cleanup robot — ROS2, Nav2, behaviour trees
An autonomous mobile manipulator designed to detect and clear lab clutter without human intervention. Built on the MIRTE Master platform as a group project at TU Delft.
Autonomy & navigation
The robot navigates unknown lab environments using Nav2 with SLAM Toolbox. A coverage path planner generates goals to explore the space, while a behaviour tree (py_trees_ros) orchestrates the full mission loop, detecting objects, and triggering arm actions in sequence.
My role:
- Costmap inflation tuning to prevent goal infeasibility near obstacles
- TF timestamp synchronisation between the MIRTE base and an Orbbec Astra depth camera
- Robust behaviour tree design handling navigation retries and failure recovery
Tech stack
ROS2 Humble Nav2 SLAM Toolbox py_trees_ros MoveIt2 Python Orbbec Astra
Status
🚧 In progress — navigation and manipulation subsystems operational; full integration ongoing.