Phyto 2025

RoboEagles 2025 Reefscape Robot

Contains

• Docker container with preinstalled dependencies
• Phoenix6 Autogenerated RIO Swerve Code
• 2025 Reefscape RIO Code
• ROS Jazzy with Robot URDF
• NetworkTables <==> ROS Bridge
• Gazebo Simulator that integrates ROS for full simulation

Setup Instructions

This project was built on Ubuntu and Linux Mint, but should work on any Linux distribution.

1. Make sure you have Git and VSCode installed
2. Clone the project with git clone https://github.com/RoboEagles4828/phyto2025.git
3. Enter the repository and install needed dependencies with sudo bash ./scripts/local-setup.sh
   • When the program asks for a ROS_NAMESPACE, enter a short and distinct name that can be identified as you
4. Install the Dev Containers extension in VSCode
5. Check that everything is installed and setup
   • You should have ssh keys in ~/.ssh
   • Docker CLI should be installed and runnable
   • VSCode should be set up with Dev Containers
6. Run the command "Rebuild and Reopen in Container" in VSCode
   • (This will likely take a while to download the docker container)
7. Congratulations! If the container opened without failing, you should now have a working setup!

Using the Simulator

Prerequisites

• Dev Container is installed
• Project is built with CTRL+SHIFT+B
• Xbox Controller is connected for drive

Gazebo Harmonic is installed in the container by default, so all gz commands should work

Run launch gazebo in the container to start RIO code, bridges, and the simulator.