ssl_simulation_robot_control.proto

syntax = "proto2";
option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";

// Full command for a single robot
message RobotCommand {
    // Id of the robot
    required uint32 id = 1;
    // Movement command
    optional RobotMoveCommand move_command = 2;
    // Absolute (3 dimensional) kick speed [m/s]
    optional float kick_speed = 3;
    // Kick angle [degree] (defaults to 0 degrees for a straight kick)
    optional float kick_angle = 4 [default = 0];
    // Dribbler speed in rounds per minute [rpm]
    optional float dribbler_speed = 5;
}

// Wrapper for different kinds of movement commands
message RobotMoveCommand {
    oneof command {
        // Move with wheel velocities
        MoveWheelVelocity wheel_velocity = 1;
        // Move with local velocity
        MoveLocalVelocity local_velocity = 2;
        // Move with global velocity
        MoveGlobalVelocity global_velocity = 3;
    }
}

// Move robot with wheel velocities
message MoveWheelVelocity {
    // Velocity [m/s] of front right wheel
    required float front_right = 1;
    // Velocity [m/s] of back right wheel
    required float back_right = 2;
    // Velocity [m/s] of back left wheel
    required float back_left = 3;
    // Velocity [m/s] of front left wheel
    required float front_left = 4;
}

// Move robot with local velocity
message MoveLocalVelocity {
    // Velocity forward [m/s] (towards the dribbler)
    required float forward = 1;
    // Velocity to the left [m/s]
    required float left = 2;
    // Angular velocity counter-clockwise [rad/s]
    required float angular = 3;
}

// Move robot with global velocity
message MoveGlobalVelocity {
    // Velocity on x-axis of the field [m/s]
    required float x = 1;
    // Velocity on y-axis of the field [m/s]
    required float y = 2;
    // Angular velocity counter-clockwise [rad/s]
    required float angular = 3;
}

// Command from the connected client to the simulator
message RobotControl {
    // Control the robots
    repeated RobotCommand robot_commands = 1;
}