Eurobot 2026 Main

Main workspace for Eurobot 2026 robotics competition with behavior tree management, navigation, and ROS 2 interfaces.

Quick Start

Setup

# Clone and setup
git clone https://github.com/DIT-ROBOTICS/Eurobot-2026-Main.git
cd Eurobot-2026-Main

# Add to ~/.bashrc
export USER_UID=$(id -u)
export USER_GID=$(id -g)

# Build and run
cd docker && docker compose build
cd .. && ./main build
./main enter  # Enter development container

Testing

1. Prepare external systems

Make sure your localization, navigation, vision, and mission systems are ready and running before testing.

2. Enter the container

./main enter

3. Run the test script

bash test_launch.sh

This launches a tmux session with 4 panes:

Pane	Command
Left	ros2 launch bt_core bt_engine_launch.py
Right-Top	ros2 launch startup startup_launch.py
Right-Middle	python3 mock_groups_test.py (interactive tester)
Right-Bottom	micro_ros_agent serial -b 115200 -D /dev/mission

Tmux controls:

Key	Action
Mouse click	Switch between panes (mouse mode is enabled)
Ctrl+B then arrow keys	Switch between panes
Ctrl+B then D	Detach from session (triggers auto-reset prompt)

After detaching, you will be prompted to press Enter to restart all nodes, press c to colcon build then restart, or press q to quit.

Workspace Structure

Eurobot-2026-Main/
├── docker/                    # Docker configs & scripts
│   ├── Dockerfile            # Container image
│   ├── docker-compose.yaml   # Services
│   └── scripts/              # Groot, VNC, micro_ros, settings
├── src/                      # ROS 2 packages
│   ├── behaviortree_ros2/   # BT executor
│   ├── Interface/           # ROS 2 interfaces
│   └── startup/             # Startup node
└── main                     # CLI script

Main Commands

Command	Description
./main build	Build workspace with colcon
./main enter	Enter development container
./main groot	Launch Groot2 (requires X11)
./main groot-vnc	Launch Groot2 in VNC
./main vnc	Start VNC server & enter container
./main close	Stop all containers

VNC Access

./main vnc

Connect with VNC viewer to localhost:5902, password: ros

Development Workflow

# Enter container
./main enter

# Source workspace
source install/setup.bash

# Build specific packages
colcon build --packages-select <package_name>

# Run nodes
ros2 run <package_name> <node_name>

ROS 2 Packages

• behaviortree_ros2 - BehaviorTree.CPP integration with ROS 2
• btcpp_ros2_interfaces - BT interfaces (ExecuteTree, FirmwareMission, Navigation)
• startup - System initialization node

Docker Services

• main-build - Build service (host network)
• main-develop - Interactive dev container (host network)
• main-vnc - VNC with XFCE desktop (bridge network, port 5902)

Target Decision Logic

The robot decides which target (collection point or pantry) to go to next using a two-tiered priority system:

1. Predefined Sequence (Priority 1)

The robot primarily attempts to follow a predefined point sequence loaded from a JSON file (e.g., params/mission_sequence.json).

• It follows collection_sequence for TAKE actions and pantry_sequence for PUT actions strictly in order.
• Points are automatically skipped if they are no longer viable (e.g., trying to PUT into an OCCUPIED pantry, or TAKE from an EMPTY collection point).

2. Spectral Decision Scoring (Fallback)

If the predefined sequence is exhausted or not provided, the robot switches to an autonomous scoring fallback system. This system evaluates all viable points and selects the one with the highest "Spectral Score".

The configuration for this scoring is defined in src/startup/params/robot_config_*.yaml and can be adjusted independently for pantry and collection:

• aggressiveness: Ranges from -1.0 (conservative, prefers points on the robot's own side) to 1.0 (highly aggressive, prefers pushing into opponent territory).
• sensitivity: Exponent multiplier (e.g. 2.0) that scales the impact of the aggressiveness over the longitudinal X position across the field (from own side to opponent side).
• rival_sigma: Distance scale (in meters) for the opponent repulsion field. Goals closer to the opponent start to lose score.
• rival_distance_threshold: Hard cutoff distance (e.g. 0.25 m). Below this distance to an opponent, the goal is considered too dangerous and is immediately discarded.

Note: In addition to these configurable parameters, distance to the robot is also automatically factored in as a linear penalty, favoring closer points over farther ones.

Environment Variables

Auto-set by main script or add to ~/.bashrc:

export USER_UID=$(id -u)      # Container user ID
export USER_GID=$(id -g)      # Container group ID
export ROS_DOMAIN_ID=100      # ROS 2 domain (default: 100)

Troubleshooting

Permission errors:

echo $USER_UID $USER_GID  # Should match host UID/GID (usually 1001)
cd docker && docker compose build

VNC fails to start:

./main close
docker compose exec main-vnc bash -c "sudo rm -rf /tmp/.X11-unix/X2 /tmp/.X2-lock"
./main vnc

Dependencies

ROS 2 Humble, Navigation2, BehaviorTree.CPP, Cyclone DDS, Foxglove Bridge, XFCE (VNC), TigerVNC (VNC)

License & Contact

DIT Robotics Team