☕ Cafe Butler

An autonomous indoor service robot built using ROS2 Humble for café and restaurant environments. The robot can autonomously navigate between predefined locations, deliver orders, and return to its home position using the ROS2 Navigation Stack.

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Features

• Autonomous indoor navigation
• SLAM-based map generation
• AMCL localization
• Nav2 path planning
• Waypoint-based navigation
• Web dashboard for robot control
• Gazebo Classic simulation
• RViz visualization
• Differential drive mobile robot

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Workspace Structure

cafe_ws/
└── src/
    └── cafe/
        ├── cafe_bringup/
        ├── cafe_description/
        ├── cafe_gazebo/
        ├── cafe_navigation/
        ├── cafe_butler/
        ├── start.sh
        ├── kill.sh
        └── fix_and_build.sh

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Packages

cafe_description

Contains

• Robot URDF
• Meshes
• Gazebo models
• RViz configurations
• Simulation worlds

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cafe_bringup

Launches

• Gazebo
• Robot State Publisher
• Navigation2
• AMCL
• RViz

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cafe_navigation

Contains

• Navigation parameters
• SLAM parameters
• Maps

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cafe_butler

Contains

• Butler State Machine
• Dashboard
• Waypoint Recorder
• Order CLI

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Requirements

Ubuntu 22.04

ROS2 Humble

Gazebo Classic 11

Navigation2

SLAM Toolbox

RViz2

Python3

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Build

cd ~/cafe_ws

colcon build --symlink-install

source install/setup.bash

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Run

Start Robot

cd ~/cafe_ws/src/cafe

./start.sh

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Stop Robot

cd ~/cafe_ws/src/cafe

./kill.sh

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Mapping

ros2 launch cafe_bringup slam_bringup.launch.py

Save map

ros2 launch cafe_bringup save_map.launch.py

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Navigation

ros2 launch cafe_bringup navigation_bringup.launch.py

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Dashboard

http://localhost:5000

Default Login

Username : admin
Password : butler

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Robot Capabilities

• Navigate to customer tables
• Return to home
• Multi-waypoint delivery
• Obstacle avoidance
• Autonomous localization
• Path planning
• Web-based control interface

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Technologies Used

• ROS2 Humble
• Navigation2
• SLAM Toolbox
• Gazebo Classic
• RViz2
• Python
• URDF
• YAML
• XML
• Flask

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Future Improvements

• Voice Assistant
• QR Table Detection
• Multi-Robot Coordination
• Kitchen Integration
• AI-based Order Management
• Dynamic Obstacle Avoidance

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License

Apache 2.0