EUROBOT 2026 PC

Welcome to the main software repository for the SCRAT robot of the Engi-Teams team for the Eurobot 2026 competition. The project is built on ROS 2 Humble and uses Docker for containerization and managing the launch of services.

Project structure

The project architecture is divided into functional subsystems. For a detailed overview of each part, please follow the links below:

Architecture & Configs

• Architecture and Packages — Detailed overview of the project subsystems and their ROS 2 packages.
• Configurations — Description of all configuration files (YAML) in the data/configs/ directory and what they are responsible for.

Guides & APIs

• Docker Setup — Guide on setting up Docker containers.
• Camera Setup — Guide on camera configuration.
• Foxglove — Guide on setting up and using Foxglove Studio for monitoring.
• Navigation Debugging Scenario — Guide for launching the navigation debugging scenario.
• Servo API — Documentation for the servo control API and behavior tree commands.

Quick start (build and run)

A Makefile is used to easily build and run Docker containers. Key parameters:

• TEAM_COLOR
• STRATEGY_PREFIX
• ARUCO_CUBE

define the configuration and behavior of the robot.

Environment preparation

For the visualization to work correctly locally (RViz, Foxglove), it is recommended to prepare the X-server:

make prepare-terminal-for-visualization

Running (offline mode - recommended)

To run the robot in offline mode (on pre-built images without internet access):

# Load offline images from archives
make load-images

# Build offline services
make build-offline

# Run the entire offline stack
make run-offline

Optionally for visualization you can run the RViz2:

make run-rviz-offline

Running (online mode)

For development purposes with an active internet connection, you can use the online mode.

Building:

make build         # Build the entire stack
make build-body    # Build robot description packages
make build-brain   # Build logic, navigation, and perception

Running:

make run           # Run the entire stack
make run-body      # Run body services
make run-brain     # Run brain services
make run-rviz      # Launch the RViz2

Related Repositories

• Eurobot_2026_pcb — repository for pcb schematics and layouts (including power and logic circuit board).
• Eurobot_2026_hardware — repository for microros embedded software for STM32.
• EUROBOT_2026_OnBoard — repository for onboard software.
• Eurobot_2026_external_camera — debugging repository for external camera software.
• Eurobot 2026 GrabCAD — 3D models of the main robot.