This thesis suggests the development of a complete software stack for an autonomous robot, from simulation to deployment into the world. The project, conducted with the Hilti Research and Development Robotics department, had as its goal giving the robot the capability to autonomously travel from designated waypoints, not bumping into anything while maintaining high accuracy. The general goal was the provision of a functioning demonstration proving the capability of the system to stakeholders on behalf of the company. The project was structured into several significant phases. The robot was initially modelled in URDF and simulated in Gazebo to create a correct digital twin for testing.