Eurobot 2025 Main

Workflow

1. Clone the repository:

   git clone https://github.com/DIT-ROBOTICS/Eurobot-2025-Main.git

2. Display the help message:

   ./main

   Output:

   ----- [ MAIN Usage ] ------------------------
   |   build           - Build the ROS workspace
   |   run             - Run the main program
   |   groot           - Launch Groot2
   |   enter           - Enter the container
   |   close           - Stop the container
   |   --command <cmd> - Run a custom command
   ---------------------------------------------
   

3. Build the workspace (both image and ROS):

   ./main build

4. Run the main program:

   ./main run

5. Launch Groot2 (only for Groot functionality):

   ./main groot

6. Enter the container (equivalent to docker exec -it but more powerful):

   ./main enter

7. Stop the container and retrieve all resources:

   ./main close

   Note: Resources are usually retrieved automatically after the program closes or crashes.

8. Run a custom command in the container (whether the container is running or not):

   ./main --command "your command"

Modifing Steps before Execute Main Program on the Robot

• bt_launch.py: pkg_dir = os.path.join('/home/ros/Eurobot-2025-Main/src/bt_app_2025')
• bt_launch.py: {"frame_id": "base_footprint"},
• bt_launch.py: arguments=['serial', '-b', '115200', '-D', '/dev/mission']

Notes for Groot Functionality

To use Groot, you need to first enter the container:

./main enter

Then, run the following command to pull the AppImage:

groot/install.sh

However, it is recommended to use the isolation application with backup functionality provided by DIT-ROBOTICS/DIT-Tools.

About bt_app_2025

Using bt_m.cpp to Add BT Nodes and Execute the Tree

1. Register nodes:

   factory.registerNodeType<${node_name}>("${node_name}");

2. Load nodes into an .xml file.
3. Create the tree:

   auto tree = factory.createTree("MainTree");

   (Replace "MainTree" with the desired tree name.)
4. Execute the tree:

   $ ros2 run bt_app_test bt_ros2

Steps to Add New Nodes and Trees

1. Write new nodes.
2. Register the nodes in bt_m.cpp.
3. Build the package:

   $ colcon build --packages-select bt_app_2025

4. Load the new nodes into an .xml file:

   $ ros2 run bt_app_2025 bt_m

5. Open Groot:

   ./main groot

6. Edit and save your tree in Groot.
7. Execute the tree:

   $ ros2 run bt_app_2025 bt_m

Using bt_launch.py to Launch All Programs

1. Select the desired plan and tree in bt_m_config (stores behavior tree configuration .xml files).
2. Launch the programs:

   $ ros2 launch bt_app_2025 bt_launch.py

Package Structure: bt_app_2025

├── CMakeLists.txt
├── bt_m_config
│   ├── Project.btproj
│   ├── bt_m_tree_node_model.xml
│   ├── bt_plan_a.xml
│   └── firmware_test.xml
├── include
│   └── bt_app_2025
│       ├── bt_nodes_firmware.h
│       ├── bt_nodes_navigation.h
│       ├── bt_nodes_others.h
│       └── bt_nodes_receiver.h
├── launch
│   └── bt_launch.py
├── package.xml
├── params
│   └── config_path.yaml
└── src
    ├── bt_m.cpp
    ├── bt_nodes_firmware.cpp
    ├── bt_nodes_navigation.cpp
    ├── bt_nodes_others.cpp
    └── bt_nodes_receiver.cpp

Program Files & BT Nodes Overview

• bt_nodes_firmware: BT nodes related to firmware missions.
• bt_nodes_navigation:
  • Navigation: Input global position and goal orientation.
  • Docking: Input staging point and offset code.
  • Rotation: Input desired rotation angle.
• bt_nodes_receiver: BT nodes for receiving messages from other teams.

startup: Check Everything Before Starting the Game

• st_point: Sets the robot's initial pose (currently set to Plan A).
• ready_feedback: Receives StartUpSrv and sets it to True (currently initialized as True).
• team: Chooses between yellow and blue team sides (not initialized yet).

Simulation

Navigation

1. Launch the simulation:

   $ ros2 launch navigation2_run sim_launch.py

2. Open RViz:

   $ rviz2

   (Load demo.rviz.)
3. Open the Foxglove connection program:

   $ ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765

4. Send a navigation goal:

   ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, pose: {position: {x: 0.35, y: 1.7, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.707, w: 0.707}}}}"

Rival Simulation

• Run the rival simulation:

  $ ros2 run rival_layer RivalSim --ros-args -p Rival_mode:=<rival mode>

Rival Simulation (Main Program)

• Remote Control: Move the enemy robot manually:

  $ ros2 run rival_simulation my_teleop --ros-args -p Rival_mode:=<rival mode>

• Behavior Tree: Script enemy robot movements:

  $ ros2 launch rival_simulation bt_launch.py

Firmware Connection

1. Use dmesg to find the device location:

   $ dmesg -w

2. Run the micro-ROS agent:

   $ ros2 run micro_ros_agent micro_ros_agent serial -b 115200 -D <your device location>

Interface Packages

btcpp_ros2_interfaces

• Stores all custom message types (msg, srv, action) for better organization.
• Messages:
  • NodeStatus: Currently unused.
• Services:
  • StartUpSrv: Received by the startup node to start the robot (currently unused).
• Actions:
  • ExecuteTree: Currently unused.
  • Navigation: Used in bt_app_test for simple navigation.

opennav_docking_msgs

• Action interface provided by the navigation team for docking messages.

example_interfaces

• Added for basic communication testing with the firmware.

Other Packages

bt_app_test: Behavior Tree for Testing

• A shared space for testing new BT node functionalities. Once the competition program stabilizes, this package will be moved to a separate repository.
• Components:
  • bt_action_node_lib: Write action nodes.
  • decorator_node_lib: Write decorator nodes.
  • bt_ros2.cpp: Functions similarly to bt_m.cpp.