DIT-MicroRos

micro-ROS agent setup for Eurobot 2026 — bridges microcontroller serial connections to a ROS 2 (Humble) network running inside Docker.

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Overview

This repository provides a Dockerized micro-ROS agent that exposes two serial-connected microcontrollers as ROS 2 nodes:

Device	Baud Rate	Role
/dev/mission	115200	Mission controller
/dev/chassis	2000000	Chassis controller

The container runs on the host network, so all ROS 2 topics/services are directly visible to every node on the same machine.

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Requirements

• Docker with BuildKit enabled
• Docker Compose v2
• Serial devices available at /dev/mission and /dev/chassis (create udev symlinks as needed)

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Repository Structure

.
├── docker/
│   ├── Dockerfile                  # ROS 2 Humble image with micro-ROS agent
│   ├── docker-compose.yaml         # Service definition
│   └── scripts/
│       ├── install_micro_ros.sh    # Builds micro_ros_setup & agent inside the image
│       └── start_agents.sh        # Launches agents in a tmux session
└── README.md

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Quick Start

1. Build the image

cd docker
docker compose build

2. Run the agent

docker compose up

On startup the container:

1. Sources ROS 2 Humble and the micro-ROS workspace.
2. Creates a tmux session (micro-ros) with two panes — one for each serial agent.

3. View agent logs

From another terminal, attach to the tmux session inside the running container:

docker exec -it eurobot-micro-ros tmux attach -t micro-ros

• Switch panes: Ctrl-b then arrow key ↑ / ↓
• Detach (return to host shell, container keeps running): Ctrl-b then d

4. Stop the agent

docker compose down

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Configuration

Environment variables can be set in a .env file next to docker-compose.yaml:

Variable	Default	Description
USER_UID	1001	UID for the container user
USER_GID	1001	GID for the container user
ROS_DOMAIN_ID	(none)	ROS 2 domain ID

Example .env:

USER_UID=1000
USER_GID=1000
ROS_DOMAIN_ID=0

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Docker Image Details

Property	Value
Base image	ros:humble-ros-base-jammy
RMW	rmw_cyclonedds_cpp
Container user	micro-ros
Timezone	Asia/Taipei

The image is built for the host platform by default. Cross-compilation is supported via Docker BuildKit's --platform flag.

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Udev Rules (Recommended)

To get stable device names, add udev rules on the host:

# /etc/udev/rules.d/99-eurobot.rules
SUBSYSTEM=="tty", ATTRS{idVendor}=="XXXX", ATTRS{idProduct}=="YYYY", SYMLINK+="mission"
SUBSYSTEM=="tty", ATTRS{idVendor}=="AAAA", ATTRS{idProduct}=="BBBB", SYMLINK+="chassis"

Replace the vendor/product IDs with the actual values from lsusb or udevadm info.

Reload rules:

sudo udevadm control --reload-rules && sudo udevadm trigger

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Team

DIT Robotics — Eurobot 2026