ARIAC Team Workspace

Overview

This repository provides a ROS 2 overlay workspace that layers the team implementation (ariac_team) and the upstream example implementation (example_team) on top of the official ARIAC 2025 base image. The workspace is structured so it can be cloned directly into a container or host machine and built with colcon without additional path tweaks.

Directory layout

.
├── docker/              # Helper scripts for containerised launches (e.g. VNC + smoke test)
├── docs/                # Reference guides, environment setup notes, design deep-dives
├── moveit_configs/      # MoveIt configuration packages shared by the workspace
├── src/
│   ├── ariac_team/      # Team ROS 2 package (nodes, launch files, configs, tests)
│   └── example_team/    # Upstream reference implementation kept for comparison
└── Dockerfile           # Overlay image that extends nistariac/ariac2025

Additional legacy environment setup guidance is preserved in docs/environment_setup.md.

Clone & initialise the workspace

# From inside your container home (e.g., /root)
git clone https://github.com/<your-org>/ariac_team.git
cd ariac_team
# Ensure colcon sees the ROS packages under src/
mkdir -p log build install

The workspace is intended to live at /root/ariac_team inside your development container, matching the mount paths used in the Docker tooling included in this repo.

Build with colcon

source /opt/ros/jazzy/setup.bash
colcon build --packages-select ariac_team

This builds only the ariac_team overlay package while skipping the upstream example unless you explicitly include it in the package list.

Source & run the entry point

After a successful build, source the workspace and start the coordinator node that wires up the MVP smoke pipeline:

source install/setup.bash
ros2 run ariac_team mvp_coordinator

The entry point loads the default config/ariac_team_config.yaml parameters and can be overridden at launch time (see the next section).

Selecting team & trial YAML files

The package ships with curated configuration files located under src/ariac_team/config:

• ariac_team_config.yaml: default sensor, motion, and competition toggles used by the coordinator.
• config/trials/*.yaml: targeted trials such as mvp_smoke.yaml, conveyor_to_tester.yaml, tester_to_agv.yaml, and shipping_submit.yaml for staged testing.

When launching, provide the desired files via launch arguments, e.g.:

ros2 launch ariac_team mvp_smoke.launch.py \
  team_config:=/team_ws/src/ariac_team/config/ariac_team_config.yaml \
  trial_config:=/team_ws/src/ariac_team/config/trials/mvp_smoke.yaml

The same paths are used inside containers because the repository is mounted at /team_ws/src by the provided Docker tooling.

Launching the full stack

Detailed launch instructions (Gazebo simulation, world creation, control stack startup, and smoke tests) are documented in docs/launch_guide.md. Key entry points are:

• launch/mvp_smoke.launch.py: standard ROS 2 launch file for the MVP pipeline.
• docker/start_mvp.sh: wraps VNC + launch for a one-command smoke test inside the container.
• docker/start_.sh: reference script for launching the full ARIAC simulation and app stack manually.

Further reading

To dive deeper into module-level design decisions and extension points:

• docs/design_notes.md: outlines the pipeline, robot coordination, and environment abstraction layers with pointers to the relevant Python modules.
• docs/environment_setup.md: legacy notes covering the broader ARIAC competition background and baseline setup.

Community contributions should follow the existing ROS 2 coding style (rclpy, launch argument usage, YAML parameterisation). See docs/launch_guide.md before filing issues to ensure you have reproduced the canonical launch workflow locally.