OhhO Autonomy
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.
Map it, navigate it, command it in plain language.
Perception tells a robot what's around it; Autonomy decides what to do about it. OhhO Autonomy is the behavior layer that turns a powered-on robot into one that moves through the world and completes tasks on its own.
It builds and localizes against a map with SLAM (2-D and 3-D), plans collision-free paths with Nav2 over a fused costmap, and fuses wheel odometry and IMU through an EKF for reliable pose. A mission planner sequences higher-level jobs — navigate to a named location, then run a manipulation policy — and a control-mode mux arbitrates cleanly between navigation, AI policies and human teleop so they never fight over the wheels.
On top sits a natural-language agent, backed by the LLM of your choice, that turns 'take the red cup from the kitchen to the bench' into a structured mission: it knows your named locations, can describe what it sees, and asks for clarification when an instruction is ambiguous — then hands the mission to the planner to execute.
- SLAM mapping. Build and localize against 2-D and 3-D maps; switch between mapping and localization modes against a saved map.
- Nav2 navigation. Collision-free path planning and obstacle avoidance over a fused costmap, tuned to the robot's real velocity and acceleration limits.
- Robust localization. An EKF fuses wheel odometry and IMU so pose stays trustworthy even when mecanum wheels slip.
- Mission planner. Sequence navigation and manipulation into a mission — 'go to the kitchen, then pick up the cup' — as a tracked state machine.
- Natural-language agent. An LLM-backed agent maps plain-language instructions to missions, with named locations, scene description and clarification when it's unsure.
- Safe arbitration. A control-mode mux switches between navigation, AI policies and teleop so commands never conflict — and a human can always take over.
Related: OhhO Serve, OhhO View, OhhO Pilot