rc25_path

Robocon 2025 — Path planning, Gazebo simulation & multi-robot coordination

中文文档

Overview

rc25_path is a robot path planning and simulation system for the Robocon 2025 season. Built on ROS Noetic + Gazebo, it covers multi-robot control, state estimation, trajectory planning, and Move Base navigation. The Nodelet architecture minimizes inter-process communication overhead, supporting single-remote or multi-remote control of multiple simulated robots.

Package Structure

rc25_path/
└── rc_control/
    ├── rc_common/         # Common utilities & algorithms
    ├── rc_hw/             # Hardware interface (CAN / GPIO / IMU)
    ├── rc_gazebo/         # Gazebo simulation environment
    ├── air_joy_control/   # Joystick control (Nodelet)
    ├── move_control/      # Move Base chassis control
    ├── tf_broadcast/      # TF coordinate broadcasting
    └── odom_sensor/       # Odometry via position differentiation

Modules

rc_common — Algorithm Library

Component	Description
LQR	Linear Quadratic Regulator
Kalman Filter	Standard Kalman filter
Complementary Filter	IMU attitude fusion
One Euro Filter	Low-latency adaptive filter
S-curve Planner	S-curve trajectory interpolation
Eigen Types	Linear algebra type wrappers
Trajectory Generator	Polynomial trajectory generation
TF Broadcaster	Real-time TF transform publishing

rc_hw — Hardware Interface

• SocketCAN-based CAN bus management
• Actuator control interfaces
• GPIO digital I/O management
• IMU sensor data acquisition & filtering

rc_gazebo — Simulation Environment

• Maps: Competition field maps (basketball court + playing field)
• Models: Task model (SDF) + Robot URDF
• Multi-robot: Simultaneous spawn of multiple robots
• Action Simulation: Actuator hardware simulation plugins for Gazebo

air_joy_control — Joystick Control

• Single-remote mode: Toggle between multiple robots via a switch
• Multi-remote mode: Dedicated remotes for individual robots
• Dual coordinate frames: World-frame velocity / robot-frame velocity

move_control — Navigation

• Integration with move_base framework
• Dynamic loading of chassis controller plugins for multiple robots

odom_sensor — Odometry

• Chassis velocity derived from position differentiation
• Outputs standard nav_msgs/Odometry messages
• Fills the gap where action controllers lack direct velocity output

Nodelet Architecture

Nodelets within the same process pass data via shared pointers, eliminating ROS serialization/deserialization overhead between nodes. This significantly reduces CPU load and transport latency.

Dependencies

• ROS Noetic
• Gazebo 11
• rc25_description (URDF model repo)
• move_base (navigation framework)

Quick Start

# 1. Set robot type environment variables
export ROBOT_TYPE_1=rc_r2
export ROBOT_TYPE_2=rabbit
export ROBOT_TYPE_3=rc_r2
export ROBOT_TYPE_4=rabbit

# 2. Clone dependencies
cd <workspace>/src
git clone git@github.com:KetenBieber/rc25_description.git
git clone git@github.com:KetenBieber/rc25_path.git

# 3. Install dependencies & build
cd <workspace>
rosdepc install --from-paths . --ignore-src
catkin build
source devel/setup.bash

# 4. Launch simulation
mon launch rc_gazebo rc2025_gazebo.launch
mon launch load_tf_tree.launch
mon launch load_basketball_field_map.launch

Related Repos

• rc_ecat_controls — Physical robot EtherCAT controllers
• gdut_rc_embedded_fw — Embedded firmware (formerly General_Framework)
• easy_ecatslave_hw — EtherCAT slave hardware