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)

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