ABU Robocon 2024 – Team Nepal

This repository contains the docker image for complete ROS 2 (Humble) workspace developed for the ABU Robocon 2024 robotics competition held in Quảng Ninh, Vietnam 🇻🇳.

Competition Theme – "Harvest Day"

In ABU Robocon 2024, teams are challenged with a vibrant agricultural scenario based on the theme "Harvest Day". The competition simulates a Vietnamese rice harvest festival, where two robots must cooperate autonomously and manually to:

• Navigate a stylized rice paddy field
• Harvest rice balls placed at specific locations
• Deliver harvested balls into storage zone
• Stack rice balls storage zone into silos autonomously
• Complete all tasks in the shortest time possible

Each match includes a Harvesting Area, Collection Area, and Obstacles.

Official Info: Explore Robocon 2024 Theme and Rules (VTV)

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Workspace Overview

• ROS Distro: Humble Hawksbill 🐢
• Base Image: Ubuntu 22.04
• Key Tools:
  • BehaviorTree.CPP (v3)
  • Nav2 Stack
  • Serial Communication
  • OAK-D DepthAI integration

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Included custom Packages

Following are the packages developed for autonomy of the robot.

Package	Description	Repository Link
action_pkg	Defines custom ROS 2 actions used across the system for asynchronous control flows.	GitHub
behaviour_plugins	Implements BehaviorTree.CPP v3 plugins, and includes shared C++/Python libraries (robotlibpc) for controllers, math, crypto, etc.	GitHub
dev_pi_communicate	Handles serial and telemetry communication between the robot and embedded devices like Raspberry Pi or STM32.	GitHub
line_follower	Contains behavior logic, perception modules, and BT nodes for line following, including motor control over serial.	GitHub
oakd_msgs	Defines custom ROS 2 message types used with the OAK-D DepthAI camera integration.	GitHub

For more technical details about each package's structure and usage, see docs/package_overview.md.

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🐳 Docker Setup (Development Environment)

To build and run the workspace using Docker:

git clone --recurse-submodules git@github.com:kundanx/robocon2024_ros_ws.git
cd robocon2024_ros2_ws
docker build -t robocon2024 .
docker run -it robocon2024