ZJUT-Deus-Nav

ZJUT-Deus-Nav is a ROS-based navigation and strategy control system for an autonomous sentry robot, designed for the Zhejiang University of Technology (ZJUT) team. The core of this project is a Behavior Tree that enables the robot to make intelligent, real-time decisions by managing complex states like patrolling, chasing enemies, attacking, and retreating.

✨ Project Features

• ROS-Based Architecture: Fully integrated with the Robot Operating System (ROS) for modularity and communication.
• Intelligent Strategy Control: Uses Behavior Trees (py_trees) to manage and prioritize robot actions in a clear and scalable way.
• Dynamic Behaviors: Implements key strategies for an autonomous sentry:
  • Escape Logic: Retreats to a safe point when health is low.
  • Chase Logic: Actively pursues designated enemy targets.
  • Attack Logic: Advances to a strategic point when conditions are favorable.
  • Patrol Logic: Patrols a predefined area when no other actions are required.
• Hardware Communication: Interfaces with lower-level hardware (e.g., motor controllers) via serial (UART) communication.
• Custom ROS Messages: Defines custom messages like ChaseCommand.msg for clear communication between strategy components.

🤖 Core Architecture: The Behavior Tree

The robot's decision-making is managed by a behavior tree. The tree evaluates conditions and executes actions based on a defined priority order.

Priority Order:

1. Escape: If health is low, retreat to the home position.
2. Chase: If a chase command is active, pursue the enemy.
3. Attack: If health is full, advance to the center attack point.
4. Patrol: If none of the above conditions are met, patrol the area.

This structure is implemented in communication_BT.py using the py_trees library.

🛠️ Technical Stack

• Framework: ROS (Robot Operating System)
• Language: Python
• Libraries: py_trees, py_trees_ros
• Communication Protocol: Serial (UART) for low-level control

📦 Installation and Setup

This project is a ROS package. Ensure you have a working ROS environment (e.g., ROS Noetic).

1. Clone the Repository: Clone this repository into the src folder of your Catkin workspace.

   cd ~/catkin_ws/src
   git clone https://github.com/Beatrice-kk/ZJUT-Deus-Nav.git

2. Install Dependencies: This project requires py_trees and py_trees_ros. If not installed, you can install them via pip:

   pip install py_trees py_trees_ros

3. Build the Package: Build your Catkin workspace to make the package available in your ROS environment.

   cd ~/catkin_ws
   catkin_make
   # or 'catkin build'

🚀 How to Run

1. Source your Workspace:

   source ~/catkin_ws/devel/setup.bash

2. Run the Main Node: Launch the main strategy node using rosrun. This script starts the behavior tree and begins controlling the robot.

   rosrun Deus_Sentry_Nav communication_BT.py

📁 Directory Structure

ZJUT-Deus-Nav/
├── package.xml            # ROS package manifest
├── CMakeLists.txt         # ROS build file
├── src/
│   └── Deus_Sentry_Nav/
│       ├── msg/
│       │   └── ChaseCommand.msg   # Custom message for chase commands
│       └── src/
│           └── strategy/
│               ├── scripts/
│               │   └── communication_BT.py  # Main script with Behavior Tree logic
│               └── ...
└── README.md              # Project documentation

🤝 Contribution

Feel free to submit issues or pull requests to improve the robot's functionality and strategies. All contributions are welcome!

📄 License

This project is currently not under a specific license. Please contact the author before use.

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