Robocon ROS 2 Project

Welcome to the Robocon ROS 2 project! This workspace contains the simulation and control software for our robot, designed for ROS 2 Jazzy and Gazebo Harmonic.

🚀 Getting Started

We use Docker and VS Code Dev Containers to ensure everyone has the same development environment. You don't need to install ROS 2 on your local machine!

Prerequisites

• Docker Desktop
• Visual Studio Code
• Dev Containers Extension for VS Code

📦 Installation

1. Clone the repository (if you haven't already):

   git clone <your-repo-url>
   cd robocon

2. Open in VS Code:

   code .

3. Reopen in Container:
   • When asked "Reopen in Container", click Reopen.
   • Or press F1 and select Dev Containers: Reopen in Container.
   • Wait for the container to build (this may take a few minutes the first time).

🛠️ Build and Run

Once inside the VS Code terminal (you should see root@...):

1. Install the dependencies:

   apt-get update && rosdep update && rosdep install --from-paths src --ignore-src -r -y

2. Build the workspace:

   colcon build

3. Source the environment:

   source install/setup.bash

4. Run the Simulation:

   ros2 launch robocon_bringup sim.launch.py

   This will open Gazebo with the Robocon 2026 game field and the robot model.

📂 Project Structure

The code is organized in src/ following the ros_gz_project_template pattern:

• robocon_description: Robot models (URDF/SDF), meshes, and visual assets.
• robocon_gazebo: Game field worlds (robocon_2026.sdf) and simulation settings.
• robocon_application: The "brain" of the robot. Contains:
  • robocon_application/robot_logic_node.py: Python node for mode switching and logic.
  • config/localization.yaml: Parameters for localization (AMCL/EKF).
• robocon_bringup: Launch files to start everything.

🤝 Contributing

• Always run colcon build to check for errors before committing.
• New models go into robocon_description/models.
• New worlds go into robocon_gazebo/worlds.

❓ Troubleshooting

• "Package not found": Did you run source install/setup.bash?
• Gazebo models missing: Ensure robocon_description is built and sourced so the GZ_SIM_RESOURCE_PATH is set correctly.