Warrior 2026

ROS 2 stack for Wayne Robotics' 2026 IGVC entry. Targets ROS 2 Humble + Gazebo Fortress on Ubuntu 22.04.

Quick start

Installation

Follow the warrior_scripts Readme for installation instructions

Launch

Follow the warrior_bringup Readme for launch instructions

System layout

flowchart LR
    subgraph INPUT["Input"]
        JOY[warrior_joy]
        NAV[warrior_navigation]
        PERC[warrior_perception]
    end

    subgraph BRAIN["Estimation & Control"]
        LOC[warrior_localization]
        GPS[warrior_gps]
        CTRL[warrior_control]
    end

    subgraph PLANT["Plant"]
        SIM[warrior_simulation]
        HW[warrior_hardware]
    end

    DESC[warrior_description]
    BRINGUP[warrior_bringup]
    MSGS[warrior_msgs]

    JOY -->|cmd_vel| CTRL
    NAV -->|cmd_vel| CTRL
    CTRL -->|joint cmds| HW
    CTRL -->|joint cmds| SIM
    HW -->|joint states, sensors| LOC
    SIM -->|joint states, sensors| LOC
    GPS --> LOC
    PERC -->|clouds, detections| NAV
    LOC -->|odom, tf| NAV
    DESC -.->|URDF| SIM
    DESC -.->|URDF| CTRL
    BRINGUP -.->|launches| BRAIN
    BRINGUP -.->|launches| PLANT
    BRINGUP -.->|launches| INPUT
    MSGS -.->|types| BRAIN
    MSGS -.->|types| PLANT

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Packages

Package	What it does	README
warrior_bringup	Top-level launchers (sim, real, turtlebot variants) + systemd unit	README
warrior_control	Swerve / diff drive controllers, kinematics	README
warrior_description	URDF / xacro / meshes	README
warrior_gps	GPS + AprilTag fusion nodes	README
warrior_gps_dual	Dual u-blox NMEA GPS → two NavSatFix topics for EKF	README
warrior_hardware	ros2_control HW interface + USB driver for swerve Arduinos and SPARK MAXes	README
warrior_joy	Gamepad → cmd_vel	README
warrior_localization	EKF, SLAM, sensor fusion	README
warrior_msgs	Custom message definitions	README
warrior_navigation	Costmaps, path planning, Nav2 integration	README
warrior_perception	Perception model harness, Lidar SDK, Omnivision	README
warrior_scripts	Install scripts + dev helpers	README
warrior_simulation	Gazebo worlds + SDF models	README

Where things live

• Launch anything → warrior_bringup
• Install / first-time setup → warrior_scripts
• Robot kinematics & math → warrior_control
• Sim worlds → warrior_simulation
• Real-hw control flow → warrior_hardware
• Lidar / cameras / perception → warrior_perception