シミュレーションプロトコルに対応

.github/workflows/custom_dict.json

@@ -127,6 +127,7 @@
     "NODEBUG",
     "remmina",
     "gltf",
-    "svgs"
+    "svgs",
+    "teleporting"
   ]
 }

consai_ros2/robocup_ssl_msgs/CMakeLists.txt

@@ -37,6 +37,12 @@ set(protobuf_files
   proto/ssl_vision_detection_tracked.proto
   proto/ssl_vision_wrapper.proto
   proto/ssl_vision_wrapper_tracked.proto
+  proto/ssl_simulation_config.proto
+  proto/ssl_simulation_control.proto
+  proto/ssl_simulation_error.proto
+  proto/ssl_simulation_robot_control.proto
+  proto/ssl_simulation_robot_feedback.proto
+  proto/ssl_simulation_synchronous.proto
 )
 protobuf_generate_cpp(PROTO_CPP PROTO_H
   ${protobuf_files}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_config.proto

@@ -0,0 +1,77 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+import "ssl_gc_common.proto";
+import "ssl_vision_geometry.proto";
+import "google/protobuf/any.proto";
+
+// Movement limits for a robot
+message RobotLimits {
+    // Max absolute speed-up acceleration [m/s^2]
+    optional float acc_speedup_absolute_max = 1;
+    // Max angular speed-up acceleration [rad/s^2]
+    optional float acc_speedup_angular_max = 2;
+    // Max absolute brake acceleration [m/s^2]
+    optional float acc_brake_absolute_max = 3;
+    // Max angular brake acceleration [rad/s^2]
+    optional float acc_brake_angular_max = 4;
+    // Max absolute velocity [m/s]
+    optional float vel_absolute_max = 5;
+    // Max angular velocity [rad/s]
+    optional float vel_angular_max = 6;
+}
+
+// Robot wheel angle configuration
+// all angles are relative to looking forward,
+// all wheels / angles are clockwise
+message RobotWheelAngles {
+    // Angle front right [rad]
+    required float front_right = 1;
+    // Angle back right [rad]
+    required float back_right = 2;
+    // Angle back left [rad]
+    required float back_left = 3;
+    // Angle front left [rad]
+    required float front_left = 4;
+}
+
+// Specs of a robot
+message RobotSpecs {
+    // Id of the robot
+    required RobotId id = 1;
+    // Robot radius [m]
+    optional float radius = 2 [default = 0.09];
+    // Robot height [m]
+    optional float height = 3 [default = 0.15];
+    // Robot mass [kg]
+    optional float mass = 4;
+    // Max linear kick speed [m/s] (unset = unlimited)
+    optional float max_linear_kick_speed = 7;
+    // Max chip kick speed [m/s] (unset = unlimited)
+    optional float max_chip_kick_speed = 8;
+    // Distance from robot center to dribbler [m] (implicitly defines the opening angle and dribbler width)
+    optional float center_to_dribbler = 9;
+    // Movement limits
+    optional RobotLimits limits = 10;
+    // Wheel angle configuration
+    optional RobotWheelAngles wheel_angles = 13;
+    // Custom robot spec for specific simulators (the protobuf files are managed by the simulators)
+    repeated google.protobuf.Any custom = 14;
+}
+
+message RealismConfig {
+    // Custom config for specific simulators (the protobuf files are managed by the simulators)
+    repeated google.protobuf.Any custom = 1;
+}
+
+// Change the simulator configuration
+message SimulatorConfig {
+    // Update the geometry
+    optional SSL_GeometryData geometry = 1;
+    // Update the robot specs
+    repeated RobotSpecs robot_specs = 2;
+    // Update realism configuration
+    optional RealismConfig realism_config = 3;
+    // Change the vision publish port
+    optional uint32 vision_port = 4;
+}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_control.proto

@@ -0,0 +1,90 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+import "ssl_gc_common.proto";
+import "ssl_simulation_config.proto";
+import "ssl_simulation_error.proto";
+
+// Teleport the ball to a new location and optionally set it to some velocity
+message TeleportBall {
+    // x-coordinate [m]
+    optional float x = 1;
+    // y-coordinate [m]
+    optional float y = 2;
+    // z-coordinate (height) [m]
+    optional float z = 3;
+    // Velocity in x-direction [m/s]
+    optional float vx = 4;
+    // Velocity in y-direction [m/s]
+    optional float vy = 5;
+    // Velocity in z-direction [m/s]
+    optional float vz = 6;
+    // Teleport the ball safely to the target, for example by
+    // moving robots out of the way in case of collision and set speed of robots close-by to zero
+    optional bool teleport_safely = 7 [default = false];
+    // Adapt the angular ball velocity such that the ball is rolling
+    optional bool roll = 8 [default = false];
+    // Instead of teleporting the ball, apply some force to make sure
+    // the ball reaches the required position soon (velocity is ignored if true)
+    // WARNING: A command with by_force stays active (the move will take some time)
+    // until canceled by another TeleportBall command with by_force = false.
+    // To avoid teleporting the ball at the end and resetting its current spin,
+    // do not set any of the optional fields in this message to end the force without triggering
+    // an additional teleportation
+    optional bool by_force = 9 [ default = false];
+}
+
+// Teleport a robot to some location and give it a velocity
+message TeleportRobot {
+    // Robot id to teleport
+    required RobotId id = 1;
+    // x-coordinate [m]
+    optional float x = 2;
+    // y-coordinate [m]
+    optional float y = 3;
+    // Orientation [rad], measured from the x-axis counter-clockwise
+    optional float orientation = 4;
+    // Global velocity [m/s] towards x-axis
+    optional float v_x = 5 [default = 0];
+    // Global velocity [m/s] towards y-axis
+    optional float v_y = 6 [default = 0];
+    // Angular velocity [rad/s]
+    optional float v_angular = 7 [default = 0];
+    // Robot should be present on the field?
+    // true -> robot will be added, if it does not exist yet
+    // false -> robot will be removed, if it is present
+    optional bool present = 8;
+    // Instead of teleporting, apply some force to make sure
+    // the robot reaches the required position soon (velocity is ignored if true)
+    // WARNING: A command with by_force stays active (the move will take some time)
+    // until canceled by another TeleportRobot command for the same bot with by_force = false.
+    // To avoid teleporting at the end,
+    // do not set any of the optional fields in this message
+    // to end the force without triggering
+    // an additional teleportation
+    optional bool by_force = 9 [ default = false];
+}
+
+// Control the simulation
+message SimulatorControl {
+    // Teleport the ball
+    optional TeleportBall teleport_ball = 1;
+    // Teleport robots
+    repeated TeleportRobot teleport_robot = 2;
+    // Change the simulation speed
+    optional float simulation_speed = 3;
+}
+
+// Command from the connected client to the simulator
+message SimulatorCommand {
+    // Control the simulation
+    optional SimulatorControl control = 1;
+    // Configure the simulation
+    optional SimulatorConfig config = 2;
+}
+
+// Response of the simulator to the connected client
+message SimulatorResponse {
+    // List of errors, like using unsupported features
+    repeated SimulatorError errors = 1;
+}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_error.proto

@@ -0,0 +1,10 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+// Errors in the simulator
+message SimulatorError {
+    // Unique code of the error for automatic handling on client side
+    optional string code = 1;
+    // Human readable description of the error
+    optional string message = 2;
+}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_robot_control.proto

@@ -0,0 +1,66 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+// Full command for a single robot
+message RobotCommand {
+    // Id of the robot
+    required uint32 id = 1;
+    // Movement command
+    optional RobotMoveCommand move_command = 2;
+    // Absolute (3 dimensional) kick speed [m/s]
+    optional float kick_speed = 3;
+    // Kick angle [degree] (defaults to 0 degrees for a straight kick)
+    optional float kick_angle = 4 [default = 0];
+    // Dribbler speed in rounds per minute [rpm]
+    optional float dribbler_speed = 5;
+}
+
+// Wrapper for different kinds of movement commands
+message RobotMoveCommand {
+    oneof command {
+        // Move with wheel velocities
+        MoveWheelVelocity wheel_velocity = 1;
+        // Move with local velocity
+        MoveLocalVelocity local_velocity = 2;
+        // Move with global velocity
+        MoveGlobalVelocity global_velocity = 3;
+    }
+}
+
+// Move robot with wheel velocities
+message MoveWheelVelocity {
+    // Velocity [m/s] of front right wheel
+    required float front_right = 1;
+    // Velocity [m/s] of back right wheel
+    required float back_right = 2;
+    // Velocity [m/s] of back left wheel
+    required float back_left = 3;
+    // Velocity [m/s] of front left wheel
+    required float front_left = 4;
+}
+
+// Move robot with local velocity
+message MoveLocalVelocity {
+    // Velocity forward [m/s] (towards the dribbler)
+    required float forward = 1;
+    // Velocity to the left [m/s]
+    required float left = 2;
+    // Angular velocity counter-clockwise [rad/s]
+    required float angular = 3;
+}
+
+// Move robot with global velocity
+message MoveGlobalVelocity {
+    // Velocity on x-axis of the field [m/s]
+    required float x = 1;
+    // Velocity on y-axis of the field [m/s]
+    required float y = 2;
+    // Angular velocity counter-clockwise [rad/s]
+    required float angular = 3;
+}
+
+// Command from the connected client to the simulator
+message RobotControl {
+    // Control the robots
+    repeated RobotCommand robot_commands = 1;
+}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_robot_feedback.proto

@@ -0,0 +1,23 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+import "ssl_simulation_error.proto";
+import "google/protobuf/any.proto";
+
+// Feedback from a robot
+message RobotFeedback {
+    // Id of the robot
+    required uint32 id = 1;
+    // Has the dribbler contact to the ball right now
+    optional bool dribbler_ball_contact = 2;
+    // Custom robot feedback for specific simulators (the protobuf files are managed by the simulators)
+    optional google.protobuf.Any custom = 3;
+}
+
+// Response to RobotControl from the simulator to the connected client
+message RobotControlResponse {
+    // List of errors, like using unsupported features
+    repeated SimulatorError errors = 1;
+    // Feedback of the robots
+    repeated RobotFeedback feedback = 2;
+}

consai_ros2/robocup_ssl_msgs/proto/ssl_simulation_synchronous.proto

@@ -0,0 +1,25 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-protocol/pkg/sim";
+
+import "ssl_vision_detection.proto";
+import "ssl_simulation_robot_feedback.proto";
+import "ssl_simulation_robot_control.proto";
+import "ssl_simulation_control.proto";
+
+// Request from the team to the simulator
+message SimulationSyncRequest {
+    // The simulation step [s] to perform
+    optional float sim_step = 1;
+    // An optional simulator command
+    optional SimulatorCommand simulator_command = 2;
+    // An optional robot control command
+    optional RobotControl robot_control = 3;
+}
+
+// Response to last SimulationSyncRequest
+message SimulationSyncResponse {
+    // List of detection frames for all cameras with the state after the simulation step in the request was performed
+    repeated SSL_DetectionFrame detection = 1;
+    // An optional robot control response
+    optional RobotControlResponse robot_control_response = 2;
+}