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Only released in EOL distros:   indigo jade kinetic

Introduction

This package contains nodes providing a ROS-based interface to interact with the referee box (refbox) of the RoboCup Logistics League which is also used in the Planning Competition for Logistics Robots In Simulation.

Nodes

This package contains a single node rcll_refbox_peer. It needs to be instantiated once per robot, each in a separate namespace to disambiguate the topic and configuration names. As an example, see the example launch files that come with the package.

Please refer to the rcll_ros_msgs package for the interface message types.

rcll_refbox_peer

Published Topics

rcll/beacon (rcll_ros_msgs/BeaconSignal)

• Incoming beacon signals from other robots and refbox.

rcll/game_state (rcll_ros_msgs/GameState)

• Incoming game state updates from refbox.

rcll/machine_info (rcll_ros_msgs/MachineInfo)

• Incoming machine info from refbox.

rcll/exploration_info (rcll_ros_msgs/ExplorationInfo)

• Incoming exploration info from refbox (during exploration phase).

rcll/machine_report_info (rcll_ros_msgs/MachineReportInfo)

• Incoming machine report info from refbox (during exploration phase).

rcll/order_info (rcll_ros_msgs/OrderInfo)

• Incoming order info from refbox (during production phase).

rcll/ring_info (rcll_ros_msgs/RingInfo)

• Incoming ring info from refbox (during production phase).

Services

rcll/send_beacon (rcll_ros_msgs/SendBeaconSignal)

• Send a beacon signal to the refbox. This must be called periodically, e.g., every one or two seconds to indicate aliveness to the refbox.

rcll/send_machine_report (rcll_ros_msgs/SendMachineReport)

• Send a machine report to the refbox (only during exploration phase). The report should always contain all already explored machines and be repeated periodically, e.g., every 2 to 5 seconds (to ensure that the report is eventually delivered, you can also use the machine_report_info topic to verify reception of your reports).

rcll/send_prepare_machine (rcll_ros_msgs/SendPrepareMachine)

• Send a prepare instruction regarding a specific machine (only during production phase). You should send this repeatedly, e.g., once every second, until you can confirm in the machine_info topic that the relevant machine has been prepared and thus changed state.

Parameters

~team_name (string)

• Name of the team, used to identify the team color automatically (the name must correspond to the one set in and advertised by the refbox).

~robot_name (string)

• Name of the robot this node represents, for example "R-1" to "R-3".

~robot_number (int)

• Jersey number of the specific robot, 1 to 3.

~crypto_key (string)

• Cryptographic shared secret to communicate over the private channel. Must correspond to the refbox setting and is handed out during the tournament.

~crypto_cipher (string)

• The specific cypher to use, only change if told to. Should most certainly be set to "aes-128-cbc".

~peer_address (string)

• Address to send/broadcast UDP messages to. Typical values could be 192.168.1.255 (for a private network with a remote refbox) or 127.0.0.1 (with a local repeater, e.g. in a simulation setup).

~peer_public_recv_port and ~peer_public_send_port (int)

• The ports to receive incoming messages on and send outgoing messages to for the public channel (most importantly the GameState to determine the team color and thus the private channel configuration). For a full network setup typically 4444, in simulation for the first robot 4411/4421, for the second 4412/4422 etc.

~peer_cyan_recv_port and ~peer_cyan_send_port (int)

• The ports to receive incoming messages on and send outgoing messages to for the private channel if team color is cyan. For a full network setup typically 4445, in simulation for the first robot 4451/4471, for the second 4452/4472 etc.

~peer_magenta_recv_port and ~peer_magenta_send_port (int)

• The ports to receive incoming messages on and send outgoing messages to for the private channel if team color is magenta. For a full network setup typically 4445, in simulation for the first robot 4461/4481, for the second 4462/4482 etc.