This repository contains the software for the development of an autonomous floor-level material transfer mobile robot. The system is designed to operate within a single indoor floor environment, autonomously transporting materials between designated pickup and drop-off points (such as room entrances), while safely coexisting with human activity.
The project aims to establish a validated core platform for indoor autonomous logistics, integrating navigation, task handling, and human-aware operation. It serves as a foundation for scalable deployment across larger indoor environments such as offices, academic buildings, and hospitals.
Note: A detailed description of the project motivation, objectives, system architecture, methodology, and deliverables is available in the project presentation:
https://github.com/senth-srmist/MATERIAL_TRANSFER_ROBOT_2026/blob/main/REVIEWS/Zeroth_Review/Presentation.pptx
git clone https://github.com/senth-srmist/MATERIAL_TRANSFER_ROBOT_2026.git
cd MATERIAL_TRANSFER_ROBOT_2026This repository uses Git submodules for managing external dependencies.
git submodule update --init --recursiveThe zed_wrapper submodule requires platform-specific versioning.
Incorrect versions may lead to build or runtime failures.
cd CODE/ros_ws/src/zed_wrappergit submodule update --init --recursiveFor Jetson-based systems, the ZED wrapper must be set to version humble-v4.0.8 for compatibility.
git checkout humble-v4.0.8For x86_64 systems (laptops or desktops), use humble-v5.1.0.
git checkout humble-v5.1.0git describe --tagsWhenever pulling new changes, ensure submodules are kept in sync:
git pull
git submodule update --init --recursive