RoboCup Software

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.

Agenda

This is a list of the meeting agendas throughout the semester

• Robocup Meeting: Sunday Sep-9-2012

Tasks

This is the main list of project ideas/tasks for robocup 2013

AI engine

• Improve the State Machine to support:
  • A decision algorithm for choosing plays
  • Offensive - Open - Defensive states
  • Better continuity in role assignments
• Scripting language

faster implementation == larger play database

• Dynamically learn other teams plays

predictive defense etc.

Logging

• A standardized logging format and logger for SSL
• Run soccer on log file

for debugging and testing our ai against opponents

• Calculate latency

important for passing!

• Recognizing when opponents chip from curvature of ball motion

Robot plays/behaviors

• 2-robot passing behavior
• one-touch pass kicking
• Yank ball/spin out when scuffling for ball
• Improve goalie

must clear ball out of defense area, stop charging robots, not be retarded

• Use fullbacks and goalie as a 3 man team

v formation, move as a unit. fullbacks can stop charging robots

• ... and any other creative strategy!

Motion

• Improve on board motion control

faster accel and max speed

• IMU

wheel slippage, precise kicking, motion feedback

• Drive, line up, and kick a fast moving ball
• Improve path planning

Radio

• Fix radio to work with 6 robots

Qt

• Add above tools to GUI

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