RoBorregos @Home

ROS 2 repository by RoBorregos, the Robotics Representative Team of Tecnologico de Monterrey. This project focuses on developing a modular software architecture for FRIDA (Friendly Robotics Interactive Domestic Assistant), an autonomous service robot competing in the RoboCup @Home league. The system enables robots to perform everyday domestic tasks through integrated vision, navigation, manipulation, and human-robot interaction modules.

Table of Contents

• Getting Started
• Usage
• Cyclone DDS Setup
• AI Agent Setup
• Documentation
• Video Demonstrations
• Team Members
• Past Contributors

Getting Started

Prerequisites

• Docker
• Docker Compose
• Git
• NVIDIA Container Toolkit (optional, for GPU support)

Installation

git clone https://github.com/RoBorregos/home2.git --recursive
cd home2

# If you already cloned without --recursive
git submodule update --init --recursive

Usage

The run.sh script automatically detects your environment (CPU, CUDA, or L4T) and manages the Docker containers.

# Show available commands and options
./run.sh --help

# Run a specific area
./run.sh vision
./run.sh hri
./run.sh navigation
./run.sh manipulation
./run.sh integration

# Run a competition task
./run.sh --gpsr
./run.sh --restaurant

Available Areas

Competition Tasks

Control Commands

Additional Flags

Cyclone DDS Setup

To enable communication between multiple computers (e.g., robot and development machine), set up Cyclone DDS on each host computer.

Bare Metal (Orin, direct install)

sudo bash scripts/setup_cyclonedds.sh <INTERFACE>
source ~/.bashrc

Docker Setup (PC)

Run the host-only setup once to apply kernel buffer settings:

sudo bash scripts/setup_cyclonedds.sh --host-only <INTERFACE>

Then run your area normally — run.sh reads the configuration automatically:

./run.sh navigation

Replace <INTERFACE> with your network interface (e.g., eno1, wlp2s0). Find it with:

ip -br link show

Revert to FastDDS

sudo bash scripts/setup_cyclonedds.sh --revert
source ~/.bashrc

For detailed configuration options, see the CycloneDDS setup docs.

AI Agent Setup

To set up personalized instructions for your AI development agent (Claude, Gemini, or Copilot), run the setup script:

./scripts/setup-agent.sh [agent_type]

Available agent_type options: claude, gemini, copilot, custom. If no argument is provided, the script will prompt you for a choice.

Documentation

• Project Docs
• API Reference
• RoboCup @Home Rule Book

Video Demonstrations

Team Members

Past Contributors