Licenses and Credits
The majority of code for the pallet truck comes from these turtlebot3 and turtlebot3_simulations repositories (in humble-devel branch) with Apache-2.0 license and we continue using the same license:
The Turtlebot3 robot project belongs to robotis.com and accessible in git repository. The authors and maintainers of the original packages that all credits go to are:
In October 2023, Hamid Ebadi renamed the package owner information and name for turtlebot3 projects to avoid dependency issues any naming confusion with the original packages and created independent packages for activities within the research project. We also got inspired and used the skeleton code from these open source project and courses:
- https://github.com/ros-controls/gazebo_ros2_control
- https://github.com/renan028/forklift_robot
- https://github.com/ROBOTIS-GIT/
- http://turtlebot3.robotis.com
- Articulated Robotics
- "ROS2 for Beginners Level 2 - TF | URDF | RViz | Gazebo" Udemy course
- "ROS2 Nav2 [Navigation 2 Stack] - with SLAM and Navigation" Udemy course
- Visual Servoing in Gazebo grobot
- The modification of Human-Gazebo in /src/humanoid_robot/model/human-gazebo is licensed under LGPL-2.1.
- Moveit2 is licensed under BSD-3-Clause license.
Resources
- Gazebo official video playlist
- Getting Ready to Build Robots with ROS
- Udemy course on ROS2 and Gazebo
- classcentral course
- theconstructsim course
- Articulated Robotics
- ROS URDF
- FoxGlove studio (rviz alternative)
- ROS2 Tutorials
- aws-robomaker
- model for factory
- Tugbot in Warehouse
- logistics in warehouse
- aws-robomaker
- gazebo_worlds
- warehouse
- forklift
- Docker install guide
- Hazard stripes taken from Tugbot warehouse
- Deadlock image
Other solutions:
- Kollmorgen: How does an AGV navigate?
- SwissLog CarryPick
- Toyota forklifts
- ILIAD Project
- GoPal
- navigation_oru navigation stack by Örebro University
- https://alignproductionsystems.com/equipment-category/navigation/#
Specification of items:
- SLAM Navigation Compact Pallet Mover Nature Navigation Mini Forklift with Payload 1000KG
- Driverless Lifting System: Single & Double Scissor Lift | AGILOX
- Wholesale Pallet Agv Trucks Jack Automated Autonomous Forklift
- Volvo modular containers
- Volvo Emballage Specifications Volvo Group Packaging System
- Freecad
- Blender
- example worlds
- SDF format
- SDF tutorial
- FreeCAD RobotCreator Workbench
Coordinates:
Camera projection:
- https://github.com/polygon-software/python-visual-odometry/blob/master/Chapter%203%20-%20Camera%20Projection.ipynb
- https://classic.gazebosim.org/tutorials?tut=camera_distortion
- https://learnopencv.com/rotation-matrix-to-euler-angles/
- https://www.geeksforgeeks.org/calibratecamera-opencv-in-python/
- https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html
- http://sdformat.org/tutorials?tut=specify_pose
Jackal Robot: The Clearpath Jackal Robot code is forked by Dyno Robotics from Clearpaths jackal Github. Branch foxy-devel is ported to dyno_humble, where changes for namespacing and a bringup package is added.
- To improve collaboration in development environment we use vscode and docker as explained in this instruction using these docker files. For production environment follow installation procedure used in .devcontainer/Dockerfile to install dependencies.
- The Docker setup is added by Christoffer Johanesson (Dyno Robotics), based on Dyno experience working with Docker.
Panda Arm: - https://github.com/cpezzato/panda_simulation - https://www.researchgate.net/figure/Panda-robot-with-labeled-joints_fig1_361659008 - https://www.kuka.com/it-it/settori/banca-dati-di-soluzioni/2025/05/5-kuka-robots-optimize-pet-food-handling-in-74-sqm - https://arxiv.org/pdf/2506.12089
AI/ML: - https://www.calibraint.com/blog/beginners-guide-to-diffusion-models
Humanoid: - https://gazebosim.org/docs/latest/actors/ - https://research.google/blog/on-device-real-time-body-pose-tracking-with-mediapipe-blazepose/
Licenses
Imu_tools is the one with several licenses, using BSD-3, GPLv3, GNU v3, but as we don't change the code so we believe there is no license conflict with the current project license. The dependency wireless (https://github.com/clearpathrobotics/wireless.git) from Clearpath robotics is the without a separate license file. There are license names within files, referencing BSD so we believe there is no license conflict with the current project license.
Docker and VS Code setup
The Docker setup added by Christoffer Johanesson (Dyno Robotics), based on Dyno experience working with Docker.
Project maintainer
This project is currently maintained by Hamid Ebadi.