RACOON-MW

Overview

NOTE: This instruction is for Linux (Ubuntu) and MacOS. (Windows need some modification)

This is our communication software for RoboCup Soccer SSL
RACOON-MW stands for Ri-one ssl Accurate Operation Middleware.

RACOON-MW aggregates information from the Vision server and GameController and provides various useful information such as ball speed and robot speed together.

Minimal Requirements

• 64bit machienes (Tested on: x86_64, ARM64)
• Robot are also needed to send packet to MW.

Usage

Generate Go Proto files

protoc --proto_path=proto/pb_src --go_out=proto/pb_gen --go_opt=paths=source_relative proto/pb_src/*.proto

Run

./RACOON-MW

If you want to change Vision Multicast Port, run with:

./RACOON-MW -p 10020

All option can see in the following flags:

./RACOON-MW -h

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Options

• Port (-p) - Change Vision Multicast Port
• Report Rate (-r) - How often report to RACOON-AI? (milliseconds)
• Goal-Position (-g) - Attack Direction Negative or Positive (N or P)
• Team (-t) - Our Team (blue or yellow)
• Team name (-tn) - Team name (Ex. Ri-one)
• Ball Moving Detect Threshould (-b) - Default 1000mm/s
• Half Court Mode (-c) - Where to use (N, P, F) F to Full. Disable when match mode is true (default "F")
• Debug Mode (-d) - Show All Send Packet
• Game Controller Listen Port (-gcp) - (Default 10003) Force 10003 when match mode is true
• Goal Keeper ID (-gk) - Goal Keeper ID (0-15) Disable when match mode is true
• grSim Command Listen Port Number (-grsimport) - Default 20011
• Ignore Referee Team Color & Attack Direction Mismatch Errors (-igref) - Disable when match mode is true
• Match Mode (-m) - Disable some options! Most option get from GC.
• Referee & Vision Listen Network Interface (-vif) - (ex. en1) (default "none")
• Robot Listen Network Interface (-rif) - (ex. en0) (default "none")
• Simulatiom Mode (-s) - (Emulate Ball Sensor). Disable when match mode is true

Web Interface

Access to http://localhost:8080 You'll get each robots IP Addresses.

Output Packet

You can see in https://github.com/Rione/ssl-RACOON-MW/blob/master/proto/pb_src/to_racoonai.proto

From Robots Packet

For packets from the robot, see Here you will find each piece of information sent by the robot.