# Autonomous Warehouse Inventory Rover

> A rover that maps a warehouse, navigates it to ±2 cm, and reads the shelves with a single camera.

- Year: 2025
- Period: November–December 2025
- Type: hackathon
- Stack: ROS 2, Nav2, Gazebo, EKF, Hybrid A*

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Built for Inter IIT Tech Meet 14.0, where I led the team to **2nd place among
23 IITs**.

- A pose-graph SLAM pipeline fusing LiDAR, IMU and wheel odometry through an
  EKF.
- Hybrid A* with Reeds–Shepp planning integrated into Nav2, for drift-minimised
  navigation with **±2 cm** indoor positioning accuracy.
- Monocular vision on a servo-mounted RGB camera for rack detection and pose
  estimation. It replaced the depth camera and still handled QR-based shelf
  identification, OCR and occupancy estimation.
- A Gazebo digital twin of the warehouse, used to validate the autonomy stack
  before it ran on the real rover.