Robocup Software 2011 Plan

From GT RoboJackets

Contents 1 Restructuring 2 New Features 2.1 GUI 2.2 Utils 2.3 World Model 2.4 Logging 2.5 Testing

Restructuring

Completed:

• Old logging removed and replaced with a less broken version
• We now use a fixed 60Hz processing loop

TODO:

• Create an Ubuntu setup script
• Single build script for all executables
• Replace the config structrure
  • Save from a GUI to config
  • XML code is in multiple places and is annoying to work with, needs to be automated
  • Avoid manually writing configs, ever.
• Slice up motion module
  • Low level control: velocities->wheel speeds
  • Mid level control: Target point/pose -> velocities
  • High level: planners create trajectories are in gameplay
• Use only radians internally
• Determinism in simulation
• Noisy simulation
• Radio support for two teams

New Features

• Exclusion zones for half-field testing, etc.

GUI

• Force single play
• Strip chart
• Logging with playback via JogWheel
• Motion history
• Robot status tab
• Save a state of the simulator to a simulator config file

Utils

• Create a oriented point to model robot poses

World Model

• World model runs in vision space rather than team space - avoids transients due to field changes

Logging

• Example python version
• Export logs to other formats

Testing

• Add a testing suite for plays
  • Force a deterministic mode in soccer
  • Allow soccer to force the state of the simulator
  • Add evaluation mechanisms (ball ends up in goal)