robocupssl/ssl-simulation-controller repository overview

⁠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