Navigation Packages for DIT Robotics Eurobot 2025

🔧 Features

🧭 Basic Navigation

Enables smooth and efficient autonomous movement.

• Uses /nav_to_pose and /nav_thru_poses action servers for basic navigation.

🧭 Docking Integration

Seamlessly integrates docking and navigation for autonomous charging or station return.

• Utilizes the /dock_robot action server to control the docking process.

🧩 Multi-Functional Interfaces

Offers a variety of commands for enhanced control and flexibility:

• /stopRobot: Lock/unlock the robot.
• /keepout_zone: Dynamically set keepout zones to avoid certain areas.
• /dock_robot: Supports flexible keyword-based commands via the dock_type parameter.
• rival_param.yaml: Supports dynamic rival data setup adjustments.

✅ Stop Robot

Control the robot's emergency stop or resume behavior via the /stopRobot topic.

• true: Immediately stops and locks the robot.
• false: Unlocks and resumes normal operation.
• Message Type: std_msgs/msg/Bool

✅ Keepout Zone Index

The keepout zones correspond to specific regions on the Eurobot 2025 field, used to restrict robot access dynamically via /keepout_zone.

• Zones are labeled A through J on the field map.
• These zones can be toggled at runtime using the /keepout_zone topic.
• Suitable for strategic behaviors like avoiding opponent areas or obstacle fields.
• Message Type: std_msgs/msg/String

✅ Supported Keywords for /dock_robot API parameter /dock_type

(Keyword order does not matter and is designed for compatibility.)

• Template Base:

  • dock: Triggers the docking process.

• Functional Tags:

  • Controller Type: fast, slow, linearBoost, angularBoost
  • Goal Checker Type: precise, loose
  • Offset Direction: x, y, z
  • Docking Style: ordinary, gentle, rush
  • Special Control: delaySpin

✅ Format for rival_param.yaml

rival_parameters:
  rival_inscribed_radius: *data(double)*

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How to Use

1. Download the latest version of nav2_release_vX.X.X.zip and extract it into the folder ~/Eurobot-2025/Eurobot-2025-ws.
2. Start the container with Eurobot-2025-Navigation2-envs.
3. Launch the navigation packages by executing the appropriate launch files.

For more details, please refer to the README file at:
https://github.com/DIT-ROBOTICS/Eurobot-2025-Navigation2-envs

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Repository Structure

Eurobot-2025
└── Eurobot-2025-ws/
   └── src/
      ├── Eurobot-2025-Navigation2/         # Core navigation system code
         ├── custom_bts/                     # Custom behavior trees
         ├── custom_controller/              # Custom controller plugins
         ├── custom_layer/                   # Custom costmap layers
         ├── navigation2_run/                # Navigation system packages
         ├── Navigation2/                    # Modified version of Nav2
         └── opennav_docking/                # Docking server implementation
      └── Eurobot-2025-Navigation2-envs/    # Docker environments
         ├── Navigation2-humble-local/       # Local PC environment
         └── Navigation2-humble-deploy/      # Remote machine environment

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Contribution

Contributions are welcome! Please follow these steps:

1. Fork the repository.
2. Create a feature branch.
3. Commit your changes.
4. Submit a pull request.

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License

This project is licensed under the MIT License. See the LICENSE file for details.

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Contact

For any issues or inquiries, please open an issue on GitHub or contact the DIT Robotics team.