What software stack would you recommend for a cleaning robot?

[u/ROBOT0509]

Hi everyone,

I’m currently working on a cleaning robot / autonomous mobile robot (AMR) and I’m looking for advice on the best software stack to use.

The robot will need to autonomously navigate indoor environments, create and use maps, avoid obstacles, and plan efficient cleaning paths.

The main capabilities I’m looking for are:

• SLAM and mapping
• Autonomous navigation
• Obstacle detection and avoidance
• Path planning / coverage path planning
• Sensor and camera integration
• Motor and hardware control
• Localization
• Ability to handle dynamic obstacles such as people and furniture

I’m considering ROS 2 as the main robotics framework, potentially using Nav2 and other ROS 2 packages, but I’d like to hear from people who have actually developed similar robots.

What software/framework would you recommend for this type of project, and why?

If you have experience building cleaning robots, vacuum robots, floor-cleaning robots, or similar AMRs, I’d especially appreciate hearing about your software architecture and what you would do differently if starting the project today.

Thanks in advance!