Warehouse　is　a　good　occasion　for　mobile　robots　to　be　applied　to.　In　the　actual　process　of　handling　the　goods,　mobile　robots　need　to　transport　the　goods　to　the　designated　position　automatically　by　the　optimal　delivery　route　and　avoid　obstacles.　Thus,　based　on　ROS,　Guardian　and　Fetch　robot　platform,　this　work　uses　Gazebo　and　SLAM　to　enable　mobile　robots　to　complete　the　automatic　handling　of　large　parts　from　the　designated　position　to　the　target　position　and　avoid　real　time　obstacles　in　the　process　of　handling　in　an　80-square-meter　logistics　workshop　in　both　simulation　and　real　environment.　The　results　of　this　research　can　be　applied　to　many　transporting　occasions　such　as　warehouse　and　the　delivery　of　parts　in　workshops,　thereby　improving　the　efficiency　of　transporting　and　producing,　and　reducing　labor　costs　as　well.　©　49th　International　Symposium　on　Robotics,　ISR　2017.　All　rights　reserved.