Overview

Lupin is an autonomous greenhouse robot built on the MIRTE Master V2 (a holonomic 4-mecanum base with a 4-DOF arm). It explores and patrols the rows with Nav2, reads climate data off AprilTags, finds and grades flowers with YOLO, and streams everything into a live digital twin you can drive from a browser, or by voice.

It is a ROS 2 Humble workspace organised as nine packages, and the same code runs in Gazebo and on the real robot, only the deployment branch and a single drive topic change.

How it works

Lupin turns an empty map into a queryable model of a greenhouse in one pipeline:

Explore ──▶ Navigate ──▶ Perceive ──▶ Twin ──▶ HMI / Voice
(frontier   (Nav2 MPPI)  (AprilTag    (/twin/   (:8090
 cells)                   + YOLO)      state)    console)

A mission orchestrator frontier-explores the live SLAM map until it has discovered N AprilTag stations, drives an approach pose at each, reads its climate tag and assesses its flowers, and publishes every reading as a typed observation. A digital-twin node aggregates those observations into a latched world snapshot and an on-demand sensor heatmap, which the web console renders live.

Start here

The stack, page by page

• Hardware, the MIRTE Master V2 platform: 4-mecanum base, 4-DOF arm, Orbbec depth, RPLidar, IMU, and the quirks that bite.
• Navigation, Nav2 tuned for a mecanum base: MPPI controller, Omni motion model, narrow-aisle costmaps, AMCL/SLAM modes.
• Mission orchestrator, the hierarchical state machine: exploration → monitoring, per-tag approach poses, pause/E-stop policy.
• Perception, AprilTag detection (OpenCV ArUco), YOLO flower detection, and the aggregator that fuses them.
• Digital twin, /twin/state aggregation and the inverse-distance-weighted get_field heatmap service.
• Greenhouse bridge, the ROS wrapper around the course environmental simulator.
• Simulation, the Gazebo story: the same stack in low-gravity, the P3D drive quirk, and the controller-manager overlay fix.
• Web HMI & voice, the browser mission console and its 23-tool voice agent.
• Teleop & manual control, gamepad/keyboard driving, arm presets, the twist_mux command-arbitration bus.

Reference

• Interfaces, every lupin_msgs message and service, 11 messages and 11 services.
• Operations, the hard-won runbook: bring-up order, failure modes, recovery.
• War stories, the deep-dive postmortems behind the runbook entries, traced end to end.
• Deploy & networking, systemd units and the laptop ↔ robot DDS setup.
• Demos, the recorded runs and the facility-visit footage from Tulpen.nl.