This paper presents a practical example of design and implementation of an augmented reality based digital twin of moving wheeled robots in an indoor environment. The architecture developed is based on the RAMI (Reference Architectural Model Industry 4.0) framework and integrates both the physical and the digital twins, allowing continuous data exchange and real-time feedback loops between the two twins. From the physical twin perspective, the use of augmented reality (AR) headsets and position sensors enables to track the movement of the wheeled robots. The precision and safety of the physical movement are guaranteed through the digital twin which includes the simulated models and the robot operating system. The use of the Node-RED low code platform as an orchestrator enables a seamless implementation of complex processes within the digital twin. The Node-RED flows look very close to the workflow diagrams for an architecture and are also the real execution space where the processes are executed at lower coding costs. It enables a clear documentation directly connected to the execution. The interest of the chosen architecture is an optimized communication of the decision and user interfacing elements including the AR headsets and the fulfilment layers of the digital twin, namely the “modelling and simulation elements” and the “data management and information elements”. The current developed modules are deployed at a laboratory scale. The perspective of this work is an up-scaling to larger rooms and more industrial robots.