TDK 2025 Computer

A ROS/ROS2 workspace for the TDK 2025 competition, featuring computer vision, mission control, and Intel RealSense camera integration.

📋 Overview

This repository contains the software stack for the TDK 2025 computer system, including:

• ROS2 packages for mission control and computer vision
• Intel RealSense camera integration
• Serial communication workspace (ROS1)
• Docker support for containerized deployment

🏗️ Repository Structure

tdk2025_computer/
├── packages/
│   ├── ros2-pkg/              # ROS2 packages
│   │   ├── mission_ctrl/      # Mission control logic
│   │   └── opencv_pkg/        # Computer vision with OpenCV
│   └── realsense-pkg/         # Intel RealSense camera drivers and examples
│       └── realsense2_camera/ # RealSense ROS2 wrapper
├── comm-ws/                   # ROS1 Catkin workspace for serial communication
│   ├── src/                   # Source packages
│   └── start_flash.sh         # Flash initialization script
└── docker/                    # Docker configuration files

🚀 Getting Started

Prerequisites

• ROS2 (Humble/Foxy recommended)
• ROS1 (Noetic for comm-ws)
• Intel RealSense SDK 2.0
• Python 3.x
• OpenCV
• Docker

Installation

1. Clone the repository

git clone https://github.com/chuangtsh/tdk2025_computer.git
cd tdk2025_computer

2. setup with docker

cd docker
docker compose up

3. attach to the environment

docker exec -it {docker container} bash

📦 Packages

ROS2 Packages

mission_ctrl

Mission control package for autonomous navigation and task execution.

opencv_pkg

Computer vision processing using OpenCV for object detection and recognition.

RealSense Package

The repository includes the Intel RealSense ROS2 wrapper with examples:

• Align Depth to Color: Align depth stream to color stream

  ros2 launch realsense2_camera rs_align_depth_launch. py

  or

  ros2 launch realsense2_camera rs_launch.py align_depth. enable: =true

🎯 Usage

Utilize Docker and ros2 launch to automatically open nodes for the game

cd docker
# Build and run docker containers (specific instructions TBD)

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Competition: TDK 2025
Last Updated: December 2025