Eurobot-2026-Localization

Instruction

0. in Eurobot-2026-Localization/docker/.env, make sure codes below are uncommented

   COMPOSE_PROFILES = communication, onboard-running
   USER_UID=1004

   and codes below are commented

   COMPOSE_PROFILES=local-developing
   USER_UID=1000
   

1. in Eurobot-2026-Localization/docker, open the compose file.

   docker compose up

2. in localization-run container, build the packages and start the localization system.

   colcon build
   source install/setup.bash
   ros2 launch localization_bringup localization.launch.py

Publishing initial pose

1. pass argument to launch file when executing ros2 launch

   ros2 launch localization_bringup localization.launch.py mode:=[yellow/blue]

2. in localization_bringup, run the bash script to manually publish initial pose after executing the launch file

   ./publish_initial_pose.sh [x] [y] [yaw]

File structure

Eurobot-2026-Localization/
├── docker/                               ### Dockerfile, .env, .yaml...
└── devel/
    ├── localization_bringup/             ### system related package
    │   └── src/
    ├── monitor/                          ### healthcheck
    │   └── src/
    ├── utils/                            ### general functions
    │   └── src/
    ├── interfaces/                       ### custom messages
    │   └── src/
    └── core_algorithm/
        ├── local/                        ### pose tracking
        │   ├── imu_drive/                # low pass filter & covariance
        │   │   └── src/ 
        │   └── wheel_inertial_odometry/  # IMU + Wheel Odom
        │       └── src/
        ├── global/                       ### global localization
        │   └── lidar_localization/       # find beacon, trilateration
        │       └── src/
        ├── fusion/                       ### ekf
        │   └── src/
        └── rival/                        ### rival localization
            ├── imm_filter/
            │   └── src/
            └── rival_localization/
                └── src/