Eurobot-2025-Localization

How to Use

Run on the Robots

w/ ready_signal (TODO)

docker compose -f docker-run-rs.yaml up

w/o ready_signal (TODO)

# choose the side
docker compose -f docker-run-blue.yaml up
docker compose -f docker-run-yellow.yaml up

Run on Local Machine

develop w/o sensors w/ ros1

cd docker/local-ros1
docker compose up

develop w/ sensors w/ ros2

cd docker/local-ros2
docker compose up

simulation on local machine (TODO)

ros1 version

ros2 version

Branches

1. main: tested and ready to run with compose-run.yaml
2. devel: use this to do experiment and test feature integration
3. ft.XXX: use this to test specific feature

GitHub & Container Workspace Structure

Eurobot-2025-Localization/
├── docker/
│   ├── gui/
│   │   ├── Dockerfile
│   │   └── docker-compose.yaml
│   ├── local/
│   │   ├── Dockerfile
│   │   └── docker-compose.yaml
│   ├── Robert/
│   │   └── docker-compose.yaml
│   └── Robinson/
│       └── docker-compose.yaml
└── localization-ws/src/
    ├── sensor-ws                    --- only in container, built in image ---
    │   ├── phidgets_drivers/              
    │   ├── obstacle_detector              
    │   └── rplidar_ros_driver/            
    └── localization-devel-ws        --- mount start from here ---
        ├── usb.sh
        ├── local/                    ### 相對定位 (odom->base_footprint)
        │   ├── local_filter/              # IMU + Wheel Odom，發 topic & TF
        │   │   └── src/
        │   ├── imu/
        │   │   └── imu_drive/
        │   └── wheel_odom/
        │       ├── odom_drive/            # covariance 處理
        │       └── communication/         # 與 STM32 的 microROS 通訊
        ├── global/                   ### 絕對定位
        │   ├── lidar_localization/        # FindBeacon, triangulation
        │   └── SearchBeacon/              # 急診室 (odom + aruco + lidar)
        │       └── src/
        ├── fusion/                   ### EKF
        │   └── src/
        └── rival/                    ### 敵機定位
            └── rival_localization/        # ArUco + LiDAR
                └── src/