RoboCup Software

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Overview

RoboCup Software encompasses all parts of the system that run on a host machine (not the robots). The entire software system is composed both of the components we play soccer and compete with as well as a sort of SDK that allows new components to be written quickly for idea and system testing.

Tasks

This the main list of software tasks that need to be completed. If you want to do one of these tasks, please put your name next to the listing here and provide updates on status.

  • Implement and test passing system
  • Improve motion control to get higher precision while maintaining high performance

Main Programs

soccer 
Everything after vision and before radio happens here.
simulator 
Simulates a game environment, including vision and radio
sslrefbox 
The standard SSL referee box for issuing referee commands to all teams
radio 
Radio communication with on-field robots

Logging Utilities

log_viewer 
Playback of logged data
simple_logger 
Records vision and referee data just like soccer does, but with no processing.
convert_tcpdump 
Reads vision and referee packets from a tcpdump file and generates a log file. Use with util/log_vision.

Development

RoboCup GIT HOWTO 
We currently use Git as our code management system, and this will explain how to acquire and update the code base.
RoboCup Eclipse HOWTO 
You can use any editor you want, but one useful one is Eclipse. This HOWTO explains how to get an set up eclipse.
RoboCup Compile HOWTO 
System requirements, dependencies, and using the build tools to compile all of the software.
RoboCup Simulator Execution 
How to start and configure the simulator and connect to one or two soccer playing modules, as well as the Referee Module
RoboCup Live Robot Execution 
How to start and run the soccer with actual robots, connect to shared vision, and receive commands from the Referee Module
RoboCup Vision System 
How to setup the vision system (camera calibration, blob detection, etc.)
Robocup Play Development HOWTO 
How to create a simple play to get started

Conventions

There are a variety of conventions used throughout the code, both to represent soccer-playing, and to maintain consistency in code development.

RoboCup Robot Identification 
The means by which specific robots and field entities can be identified
RoboCup Field Structure 
The coordinate systems and their relationship to the field
Field and Camera Information 
Specifications on our cameras