We present an end-to-end system for automatically deploying an Autonomous Mobile Robot (AMR) in a warehouse for point-to-point transportation tasks. Our approach includes creating a motion library that provides guarantees on the motion of the AMR, automatically creating a graph representing safe motions in the warehouse, and using Linear Temporal Logic (LTL) specifications and synthesis to compose appropriate motion primitives to accomplish a task, even in the presence of other people and robots in the warehouse. We demonstrate our approach in simulation and with a physical robot.