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
• 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

Area	Description
vision	Spins up the containers for the vision area
manipulation	Spins up the containers for manipulation
navigation	Spins up the containers for navigation
hri	Spins up the containers for human-robot interaction
integration	Spins up the complete integration environment
frida_interfaces	Builds and configures FRIDA's custom interfaces/messages

Competition Tasks

Flag	Description
--hric	Runs the Human-Robot Interaction challenge
--ppc	Runs the Pick and Place challenge
--gpsr	Runs the General Purpose Service Robot challenge
--dlc	Runs the Doing Laundry Challenge
--restaurant	Runs the Restaurant challenge
--finals	Runs the finals stage routine

Control Commands

Flag	Description
--stop	Stops the running containers without removing them
--down	Stops and removes all containers, networks, and volumes

Additional Flags

Flag	Description
--build	Builds the ROS 2 packages inside the container
--build-image	Builds the Docker image for the specified area or task
--recreate	Forces the recreation of containers
--open-display	Opens the graphical interface for HRI or Vision

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 setup_cyclonedds.sh <INTERFACE>
source ~/.bashrc

Docker Setup (PC)

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

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

For detailed configuration options, see the CycloneDDS setup docs.

Documentation

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

Video Demonstrations

Team Members

Name	GitHub	Role
Oscar Arreola	@Oscar-gg	HRI, Integration
Gerardo Fregoso	@GerardoFJ	Navigation, Integration
Alejandra Coeto	@Ale-Coeto	Vision, Integration
Danae Sanchez	@DanaeSG	Vision, Navigation, Integration
Alejandro Gonzalez	@AleGonzcamilla	Mechanics, Manipulation
Emil Winkler	@emilwinkp	Manipulation
Fernando Hernandez	@Fernando94654	Vision, Manipulation
Camila Tite	@CamilaTite26	HRI
Daniela Herrera	@DanHeGa	Vision
Gilberto Malagamba	@GilMM27	HRI, Integration
Jose Dominguez	@JLDominguezM	Manipulation, Integration

Past Contributors

Name	GitHub	Role
Adan Flores-Ramirez	@afr2903	Research
David Vazquez	@deivideich	Manipulation
Emiliano Flores	@EmilianoHFlores	Manipulation, Vision, Integration
Ivan Romero	@IvanRomero03	Integration, HRI, Manipulation, Vision
Diego Hernandez	@Diego-HC	Integration, HRI, Navigation