rlxai/rbot

What is it?

Key features

• 01Gazebo Harmonic simulation with demo and benchmark warehouse worlds.
• 02ros2_control differential-drive setup with joystick and keyboard teleoperation.
• 03Simulated 2-D LiDAR, IMU, depth and stereo cameras, and GPS.
• 04SLAM Toolbox mapping with a saved-map workflow, plus AMCL and EKF localization.
• 05Nav2 navigation using an MPPI controller and SMAC Hybrid-A* planner.

Use cases

• Learning the ROS 2 and Nav2 mapping-to-navigation pipeline without physical hardware.
• Prototyping navigation or localization configs in a simulated warehouse.
• Providing a Docker-based AMR baseline for a robotics team to adapt to its own robot.

Quick start

1. 1

   Install Docker with Compose support on the host

2. 2

   Build and run the Gazebo simulation stack

   bash scripts/run_sim.sh
3. 3

   Start teleoperation to drive the robot

   docker compose -f docker/docker-compose.yml run --rm teleop

Things to know

• !Gazebo Harmonic is the only supported simulator; Isaac Sim is scaffolding only.
• !Targets Ubuntu 24.04 with ROS 2 Jazzy, so other platforms need extra setup.
• !License is listed as NOASSERTION in metadata, though the README mentions Apache 2.0; verify before reuse.

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FAQ

What is rbot?

An open-source ROS 2 Jazzy and Gazebo Harmonic simulation stack for autonomous mobile robots, covering mapping, localization and Nav2 navigation. rbot is a simulation-first reference stack for autonomous mobile robots (AMRs) built on ROS 2 Jazzy and Gazebo Harmonic. It brings together a robot description (URDF/Xacro), Gazebo simulation, ros2_control, joystick and keyboard teleoperation, simulated sensors, EKF and AMCL localization, SLAM Toolbox mapping, and Nav2 navigation in a single ROS 2 workspace.

Is rbot free to use? What license does it have?

rbot is open source under the Other license. Check the license terms before using it in commercial products.

Is rbot still maintained?

Actively maintained. The last commit to rbot was on Oct 30, 2026.

What can I use rbot for?

Learning the ROS 2 and Nav2 mapping-to-navigation pipeline without physical hardware. Prototyping navigation or localization configs in a simulated warehouse. Providing a Docker-based AMR baseline for a robotics team to adapt to its own robot.

How do I install rbot?

Install Docker with Compose support on the host Build and run the Gazebo simulation stack: bash scripts/run_sim.sh Start teleoperation to drive the robot: docker compose -f docker/docker-compose.yml run --rm teleop

Where can I get rbot?

The source code and installation instructions are on GitHub: https://github.com/rlxai/rbot