RoboCup Simulator

The simulator, soccsim, is used heavily for off-line development and testing. It provides the same interfaces as ssl-vision and radio, allowing soccer to run in (nearly) the same way for simulation and real operation.

Invocation

./soccsim [-c <config file>] [--ui] [--sv]

If no configuration file is given, it will use simulator.cfg in the current directory.

• --ui displays a GUI that is really only useful for debugging the geometry given to the physics engine.
• --sv causes the simulator to send data to the ssl-vision multicast address. Do not use this on a competition network!

Limitations

• No noise.
• Only outputs data for one camera. Ball-occlusion simulation is still done as if there were two cameras.
• No carpet effects such as loss of traction and variable height.
• Only partial simulation of robot status in RadioRx packets.