# DHL develops ROS based Automated Yard Logistic System with StreetScooter

**URL:** <https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440>\
**Category:** ROS General\
**Created:** [March 30, 2020, 12:48pm UTC](https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440 "2020-03-30T12:48:41Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![Tobias](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tobias/32/5171_2.png) [@Tobias](https://discourse.openrobotics.org/u/Tobias)\
**Post date:** [March 30, 2020, 12:48pm UTC](https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440/1 "2020-03-30T12:48:41Z")

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Hey ROS Community,

after 3 years of [prototyping](https://www.missinglinkelectronics.com/images/LandingPage/FPGA4ADAS_2/9_Augspurger_StreetScooter_Open-Source-System-Prototyping-in-Autonomous-Logistics.pdf) based on [awesome ROS tooling](https://github.com/Ly0n/awesome-robotic-tooling/blob/master/README.md) and learning from the best in the [Autoware.auto AVP](https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto) we are happy to launch the product pre-release of AMPS - [Assisted Maneuvering and Positioning System](https://www.streetscooter.com/en/amps/). Hardware and software is engineered at the Deutsche Post Innovation Center Avantis by the department of Autonomous Logistics.

> **[Home | Streetscooter GmbH](https://www.streetscooter.com/de/)**

Longtime testing at DPDHL parcel centers and our prototyping test track “Avantis” has enabled us to do the industrialization of a ROS based automated system moving up to 30 tons with a precision \< 3 cm. AMPS controls the steering of the system while the driver is still in charge of the acceleration. This creates a worldwide unique logistic system linked to the yard logistic control station. Thanks to ROS our system is modular and adaptable to different kinds of vehicles.

We also want to thank [IFA](https://www.dguv.de/ifa/index-2.jsp) ( Institute for Occupational Safety and Health of the German Social Accident Insurance ) for creating the safety concept with us.

Since we want to give back to the ROS community, we were bug fixing multiple packages in the past on the official repositories. Our extension of the [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP) framework is [released open source](https://github.com/Autonomous-Logistics/sts_bt_library).  
[https://github.com/Autonomous-Logistics/sts\_bt\_library](https://github.com/Autonomous-Logistics/sts_bt_library)

At this point we want to thank all the great people in this community that supported us over many years:

- [Ternaris](https://ternaris.com/marv-robotics/) for creating database tooling called [marv-robotics](https://gitlab.com/ternaris/marv-robotics)
- SICK for providing [sensor interfaces](https://github.com/SICKAG/sick_scan) and other safety related support.
- [Autoware](https://www.autoware.org/), [Apex.ai](https://www.apex.ai/) and the ROS2 community for showing us how to scale for higher levels of automation
- Silexica for giving us the right tooling to [debug complex robotic products](https://www.silexica.com/press/ros/)
- The [MASCOR](http://maskor.fh-aachen.de/en/) Institute from FH Aachen providing us with highly trained ROS engineers and creating the first [ROS Summer School](https://www.fh-aachen.de/fachbereiche/maschinenbau-und-mechatronik/international/ros/) worldwide

We also want to thanks the [rviz\_cinematographer](http://discourse.ros.org/t/release-rviz-cinematographer-create-professionally-looking-camera-trajectories-easily/6703) project for making great videos possible in rviz:

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/4/f/4f86fc356801fb8c86b7c85bad888a7231e93486.jpeg "AMPS – See the world like a robot") ](https://www.youtube.com/watch?v=jyHOBB6mRu4)

This publication belongs to the today finished BMWi funding project “3F” of the german government (Fahrerlose und fehlertolerante Fahrzeuge / Driverless and fault-tolerant vehicles)."

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**Author:** ![facontidavide](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/facontidavide/32/1674_2.png) [@facontidavide](https://discourse.openrobotics.org/u/facontidavide)\
**Post date:** [March 30, 2020, 1:06pm UTC](https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440/2 "2020-03-30T13:06:56Z")

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Hi,

this sounds great. And I am happy to see that you are using **BehaviorTree.CPP** 😉

Looking forward to see your extensions and eventually discuss how to include them with the main library!

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**Author:** ![Tobias](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/tobias/32/5171_2.png) [@Tobias](https://discourse.openrobotics.org/u/Tobias)\
**Post date:** [April 1, 2020, 9:23am UTC](https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440/3 "2020-04-01T09:23:21Z")

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Hi,

we promised and we deliver:

Here our extension of the behavior tree engine. We are looking forward for your feedback and contribution:  
[https://github.com/Autonomous-Logistics/sts\_bt\_library](https://github.com/Autonomous-Logistics/sts_bt_library)

Please use the following repository to get a proper build:  
[https://github.com/Autonomous-Logistics/catkin\_behavior\_tree\_ws](https://github.com/Autonomous-Logistics/catkin_behavior_tree_ws)

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**Author:** ![gbiggs](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/gbiggs/32/30361_2.png) [@gbiggs](https://discourse.openrobotics.org/u/gbiggs)\
**Post date:** [April 2, 2020, 12:11am UTC](https://discourse.openrobotics.org/t/dhl-develops-ros-based-automated-yard-logistic-system-with-streetscooter/13440/4 "2020-04-02T00:11:28Z")

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This is a fantastic piece of work! I’d be interested in seeing your architecture.