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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

📦 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.