ssl-simulation-controller

A controller for SSL simulation tournaments.

Behaviors

Manual ball placement

The ball is manually moved to the designated target position, if the game is in HALT for at least 0.5s.

Maintain robot count

Adds and removes robots, if the robot count does not match the max robot count in the referee message:

• The robot substitution rules are applied as far as possible.
• Robots are only added or removed, if the game is either in HALT, or the ball is not within 2m to the halfway line (see robot substitution rules).
• Robots are put near the halfway line at a free position.
• Robots nearest to either crossing of halfway line and touch lines are removed first.

Apply Geometry

The geometry for division A or B is applied, based on the max number of robots in the referee message. The geometry is currently hard-coded into the binary. It will only be applied in NORMAL_FIRST_HALF_PRE stage.

Apply robot specs

Send the robot specs for the respective teams to the simulator:

• The robot specs are taken from a config file specified via command line. There is also an example config in config/robot-specs.yaml.
• The team names are taken from the referee message and must match exactly with the keys in the config file.
• Robot specs are only applied during pre-stages.
• The simulator will receive equal robot specs for all 16 robots in one message.
• Robot specs are only send once on startup and when a team changes. The simulator-controller will not resend the specs after a simulator crash and must be restarted, or the team name must be switched to force resending the specs.

Usage

If you just want to use this app, simply download the latest release binary. The binary is self-contained. No dependencies are required.

You can also use pre-build docker images:

docker pull robocupssl/ssl-simulation-controller
docker run --network host robocupssl/ssl-simulation-controller

Development

Requirements

You need to install following dependencies first:

• Go >= 1.14

Prepare

Download and install to GOPATH:

go get -u github.com/RoboCup-SSL/ssl-simulation-controller/...

Switch to project root directory

cd $GOPATH/src/github.com/RoboCup-SSL/ssl-simulation-controller/

Run

Run the backend:

go run cmd/ssl-simulation-controller/main.go