ROS 2 AMR – Motor, LiDAR SLAM & Autonomous Navigation Integration

I have a differential-drive autonomous mobile robot running ROS 2 and need the whole motion stack stitched together around a pair of Nidec motors driven by an FBL2360TE controller. Your first task will be bringing that controller and its quadrature encoders cleanly into ROS 2 so accurate wheel odometry publishes through TF.

From there the sensing layer comes in: a 2-D LiDAR already mounted and producing good scans. I plan to build the map with SLAM Toolbox, so the integration work must ensure scan topics, transforms and static frames are perfectly aligned for reliable loop-closure.

The biggest hurdle I anticipate is Nav2 autonomous navigation; path planning, obstacle avoidance and localization must run smoothly on-board with minimal CPU overhead. Once the stack is functional in simulation, we will move to the physical robot for tuning—PID on the FBL2360TE, inflation parameters, recovery behaviors, velocity limits and safety checks.

Deliverables
• ROS 2 nodes or launch files that interface the FBL2360TE, publish /cmd_vel and encoder odometry, and broadcast TF frames.
• SLAM Toolbox configuration producing a consistent map in our warehouse environment.
• Fully configured Nav2 stack demonstrating live localization, global & local path planning and dynamic obstacle avoidance.
• Step-by-step test procedure and final real-world validation video or bag files showing a complete autonomous run.

Hands-on experience with ROS 2, TF2, encoder math, Nav2 tuning and, ideally, the Nidec/FBL2360TE hardware will let you move quickly. If that sounds like your skill set, let’s start building.