Krishi Cobot (KC) theme for eYRC 2025-26

This repository contains the simulation setup for the Krishi Cobot (eYantra Robotics Competition 2025-26).

Launch Commands

To launch Gazebo World Only for Task 1:

ros2 launch eyantra_warehouse task1.launch.py

To spawn eBot in the Gazebo world:

ros2 launch ebot_description spawn_ebot.launch.py

To spawn Arm & Camera inside Gazebo World:

ros2 launch ur_simulation_gz spawn_arm.launch.py

To launch Task 1 Bonus Lidar shape detection Gazebo world:

ros2 launch eyantra_warehouse task1_bonus.launch.py

Workspace Structure

• ebot_description/ - Contains ebot robot description, launch files, and configurations
• eyantra_warehouse/ - Warehouse simulation environment and models
• pymoveit2/ - contains controller for Arm servo
• ur_description/ - Universal Robots arm description
• ur_simulation_gz/ - Gazebo simulation for Universal Robots arm