Augmented Reality (AR) is a pillar of the transition to Industry 4.0 and smart manufacturing. It can facilitate training, maintenance, assembly, quality control, remote collaboration and other tasks. AR has the potential to revolutionize the way information is accessed, used and exchanged, extending user’s perception and improving their performance. This work proposes a Pervasive AR tool, created with partners from the industry sector, to support the training of logistics operators on industrial shop floors. A Human-Centered Design (HCD) methodology was used to identify operators difficulties, challenges, and define requirements. After initial meetings with stakeholders, two distinct methods were considered to configure and visualize AR content on the shop floor: Head-Mounted Display (HMD) and Handheld Device (HHD). A first (preliminary) user study with 26 participants was conducted to collect qualitative data regarding the use of AR in logistics, from individuals with different levels of expertise. The feedback obtained was used to improve the proposed AR application. A second user study was realized, in which 10 participants used different conditions to fulfill distinct logistics tasks: C1 — paper; C2 — HMD; C3 — HHD. Results emphasize the potential of Pervasive AR in the operators’ workspace, in particular for training of operators not familiar with the tasks. Condition C2 was preferred by all participants and considered more useful and efficient in supporting the operators activities on the shop floor.