Sparky CIRC 2026

This is the CIRC competition ready repository for UWRobotics Season 2026. This repository contains code needed for the groundstation, drivetrain and other related modules.

TODO

• VCAN ODrive Support
• Ros_Odrive rover integration
• VN-300 Driver
• IMU Drift Compensation
• Camera Ethernet
• Back-up RF
• Unit test
• Application test

Project Structure

./
├── Dockerfile              # Docker image definition
├── docker-compose.yml      # Container orchestration (base, works on Ubuntu)
├── scripts/                # Shell scripts
│   ├── setup.sh            # Host-side: detects UID/GID, prepares .env
│   ├── docker-entrypoint.sh# Container startup script
│   └── build.sh            # Build script for ROS2 workspace
├── src/                    # ROS2 source code
└── README.md               # This file

Prerequisites

# Setup the ENV
./scripts/setup.sh

Linux Only: Grant Docker access to your X server:

xhost +local:docker

Setup Docker

# In Project Root
docker compose build
docker compose up -d

# Enter the docker container
docker compose exec ros2-dev bash

# Remove the docker container
docker compose down

ROS Package

# Build the ROS Package
./build.sh

# Source the ENV
source install/setup.bash

# Launch
ros2 launch <ROS_PKG> <ROS_LAUNCH> 

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Debug Info

No Gui issue

Verify DISPLAY is set:

echo $DISPLAY   # should print :0 or :1

If empty, set it manually:

export DISPLAY=:0

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License

This project is licensed under the MIT License - see the LICENSE file for details.

Copyright (c) 2026 UWRobotics.

This repository bundles third-party components under their own licenses (see NOTICE):

• src/ros_odrive (submodule) — MIT, © ODrive Robotics (see src/ros_odrive/LICENSE).
• src/dualshock4_teleop (akros2_teleop, submodule) — Apache-2.0, © 2023 Aditya Kamath (see src/dualshock4_teleop/LICENSE).
• src/akros2_msgs (submodule) — Apache-2.0, © 2023 Aditya Kamath (see src/akros2_msgs/LICENSE).