Software Stack

Dokumentasi lengkap software stack yang digunakan dalam project BASCORRO. Sistem ini dibangun di atas ROS 2 Humble dengan berbagai modul untuk vision, locomotion, localization, dan strategy.

Overview

┌──────────────────────────────────────────────────────────┐
│                    BASCORRO Software                     │
├──────────────────────────────────────────────────────────┤
│  ┌──────────┐  ┌──────────┐  ┌──────────┐  ┌──────────┐ │
│  │  Vision  │  │Locomotion│  │Localizatn│  │ Strategy │ │
│  │  System  │  │  Module  │  │  Stack   │  │    AI    │ │
│  └────┬─────┘  └────┬─────┘  └────┬─────┘  └────┬─────┘ │
│       │             │             │             │        │
│       └─────────────┴─────────────┴─────────────┘        │
│                          │                               │
│                    ┌─────┴─────┐                        │
│                    │ ROS 2     │                        │
│                    │ Humble    │                        │
│                    └───────────┘                        │
└──────────────────────────────────────────────────────────┘

Modules

Vision System

Ball detection, field recognition, camera processing

Locomotion

Walking control, gait generation, balance

Localization

Position estimation, odometry, mapping

Strategy

Game strategy, behavior trees, decision making

Simulation

Webots, Gazebo, testing environment

Technology Stack

Layer	Technology
Framework	ROS 2 Humble Hawksbill
Languages	C++ (ament_cmake), Python 3 (ament_python)
Vision	OpenCV, YOLO (optional)
Motion	Dynamixel SDK, robotis_framework
Simulation	Webots, Gazebo
Math	Eigen3, robotis_math
Navigation	SBPL, PCL, OctoMap

Package Categories

Core Packages (52 total)

Category	Count	Examples
Motion Control	10+	op3_walking_module, op3_balance_control
Vision	2	soccer_vision, face_detection
Localization	5+	op3_localization, humanoid_localization
Hardware	3	dynamixel_sdk, robotis_controller
Simulation	2	op3_webots_ros2, op3_gazebo_ros2
Messages	10+	op3_*_msgs packages

Data Flow

Sensors (Camera, IMU)
        │
        ▼
┌───────────────┐
│ Perception    │ ← Vision, Sensor Processing
│ (What do I see?)
└───────┬───────┘
        │
        ▼
┌───────────────┐
│ Localization  │ ← Where am I?
│ (Position)    │
└───────┬───────┘
        │
        ▼
┌───────────────┐
│ Strategy      │ ← What should I do?
│ (Decision)    │
└───────┬───────┘
        │
        ▼
┌───────────────┐
│ Motion        │ ← How do I move?
│ (Execution)   │
└───────┬───────┘
        │
        ▼
    Actuators (Servos)

Getting Started with Development

1. Clone & Build

git clone https://github.com/ProgramBascorro/motion_webots.git
cd motion_webots/ros_ws
source /opt/ros/humble/setup.bash
colcon build --continue-on-error
source install/setup.bash

2. Launch Simulation

ros2 launch op3_webots_ros2 robot_launch.py world:=worlds/op3_env.wbt

3. Launch Vision

ros2 launch soccer_vision soccer_vision.launch.py publish_debug_image:=true

Key Configuration Files

File	Location	Purpose
soccer_vision.launch.py	`soccer_vision/launch/`	Vision parameters
robot_launch.py	`op3_webots_ros2/launch/`	Simulation setup
walking_module.yaml	`op3_walking_module/config/`	Walking parameters

Dokumentasi parameter launch file ada di masing-masing package README atau di comment dalam file launch.

Development Guidelines

Follow Coding Standards
Test with simulation before deploying to real robot
Use colcon test untuk menjalankan unit tests
Document all new parameters in launch files