OhhO Autonomy
Prototype mission console.
Autonomy is a prototype mission console on this site. Works today in the public OmniBot repository: Nav2 configuration, slam_toolbox SLAM wired to Nav2, typed goals to named waypoints, and a teleop command mux (default teleop, stop on mode switch). Mission planner, EKF localization, 3-D SLAM, and open-ended natural-language missions are not built.
Simulated data — connect a robot via Connect for live data
Concept render — not footage of OmniBot
Works today
- Nav2 navigation stack configuration in public OmniBot workspaceEvidence
- slam_toolbox SLAM integrated with Nav2 (merged PR #18, green CI)Evidence
- Typed goals to named waypoints via natural-language mission parsing (merged PRs #28 and #29, green CI on main)Evidence
- Teleop command mux: default teleop and stop on mode switch (merged PRs #11 and #17, green CI)Evidence
In progress
Vision: not built
Map it, navigate it, command it in plain language.
Teleop is for when a human drives; Autonomy is for when the robot drives itself. It maps a space with SLAM, navigates it with Nav2, and runs a mission planner that sequences navigation and manipulation — all orchestrated by a natural-language agent that turns an instruction into a plan.
- Mapping
- 2-D & 3-D SLAM (mapping / localization)
- Navigation
- Nav2 planner + costmap obstacle avoidance
- Localization
- EKF fusing wheel odometry + IMU
- Missions
- Navigate → manipulate state machine (position-controlled arm)
- Manipulation
- Position-controlled pick-and-place today; force limiting & tactile skin (Vision: not built)
- Agent
- Natural language → mission (LLM-backed)
- Arbitration
- Control-mode mux: nav / AI / teleop
Works better together
Ready to build with OhhO Autonomy?
The engine and this console demo are free. Hosted cloud is a waitlist, not a checkout.