Eurobot-2026-VisionOnBoard

Vision system for Eurobot 2026 competition. Supports 4 RealSense cameras with ArUco marker detection.

Quick Start

1. Start Docker

cd docker/
bash start_docker.sh

2. Launch Vision System

Option A: tmux (recommended for debugging)

./start_vision_tmux.sh

• Window 0: 4 camera panes (front, back, left, right)
• Window 1: Detector + Scanner nodes
• Window 2: RViz

Option B: Single launch file

# Inside Docker container
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch aruco_object multi_camera.launch.py

Launch Parameters

Parameter	Default	Description
default_active_camera	right	Initial active camera (front/back/left/right)
team_color	blue	Team color (blue/yellow)
log_level	info	ROS log level

Example:

ros2 launch aruco_object multi_camera.launch.py default_active_camera:=front team_color:=yellow

Switch Active Camera

Only one camera processes at a time. Publish to /robot/dock_side (Int16):

Side	Value
Front	0
Right	1
Back	2
Left	3

ros2 topic pub /robot/dock_side std_msgs/msg/Int16 "data: 2" -1  # Switch to back

RViz

xhost +local:docker  # Run BEFORE entering container
ros2 run rviz2 rviz2

Architecture

start_vision_tmux.sh / multi_camera.launch.py
├── 4× RealSense cameras (640x480@15fps, depth disabled)
├── 4× object_detector nodes (ArUco pose detection)
└── 4× aruco_row_scanner nodes (hazelnut flip detection)

All nodes subscribe to /robot/dock_side - only the matching camera side processes images.

Individual Node Launch

Launch individual camera, detector, or scanner nodes with camera position:

Camera Node (RealSense)

start docker first

docker exec -it vision-ws bash

Object Detector Node

ros2 run aruco_object aruco_detector_node --ros-args \
    -p camera_position:=left

Row Scanner Node

ros2 run aruco_object aruco_row_scanner --ros-args \
    -p camera_position:=front \
    -p team_color:=blue

Multi-Node Launch Files

# Launch all 4 detector nodes
ros2 launch aruco_object detector_multi.launch.py default_dock_side:=1

# Launch all 4 scanner nodes
ros2 launch aruco_object scanner_multi.launch.py default_dock_side:=1 team_color:=blue

camera serial number

use rs-enumerate-devices to list the serial number left: 218622276534 right: 218622276687 back: 419122270813 front (d435): 313522070126

launch with serial number

ros2 launch realsense2_camera rs_launch.py \
    camera_namespace:=right \
    camera_name:=right \
    serial_no:="'218622276687'" \
    rgb_camera.color_profile:=640,480,15 \
    enable_depth:=false

ros2 launch realsense2_camera rs_launch.py \
    camera_namespace:=back \
    camera_name:=back \
    serial_no:="'419122270813'" \
    rgb_camera.color_profile:=640,480,15 \
    enable_depth:=false

ros2 launch realsense2_camera rs_launch.py \
    camera_namespace:=left \
    camera_name:=left \
    serial_no:="'218622276534'" \
    rgb_camera.color_profile:=640,480,15 \
    enable_depth:=false