robocup_3d_simulation

A repository for Gazebo and ROS based robocup_3d_simulation.

Prerequisites

We require Ubuntu Precise or Ubuntu Trusty.

One-line installation (recommended)

1. The following line will download a script that will install a package named ros-{$DISTRO}-robocup3d in your machine. It will also install the required dependencies, including the package containing the Nao meshes.

   wget -O /tmp/robocup3d_install.sh http://osrf-distributions.s3.amazonaws.com/gazebo/robocup3d_install.sh; sudo sh /tmp/robocup3d_install.sh
   

2. It is convenient if the environment variables are automatically added to your bash session every time a new shell is launched.

For ROS Hydro:

echo -e "\n# Gazebo" >> ~/.bashrc
echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
echo "# ROS" >> ~/.bashrc
echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
source ~/.bashrc

For ROS Indigo:

echo -e "\n# Gazebo" >> ~/.bashrc
echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
echo "# ROS" >> ~/.bashrc
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

Installation from sources

You should skip this section if you installed the software using the one-line instalation script.

1. Install ROS. Follow instructions here and install the package ros-indigo-desktop (Ubuntu Trusty). If you are in Ubuntu Precise you should follow this instructions and install the package ros-hydro-desktop.

2. Install Gazebo4. Follow instructions here and install the branch gazebo_4.1 or above. From now on we are going to assume that the installation is ROS indigo. If you are using hydro, just replace indigo with hydro in the following commands.

3. It is convenient if the environment variables are automatically added to your bash session every time a new shell is launched.

For ROS Hydro:

echo -e "\n# Gazebo" >> ~/.bashrc
echo "source <REPLACE_BY_YOUR_GAZEBO_INSTALLATION_DIRECTORY>/gazebo/setup.sh" >> ~/.bashrc
echo "# ROS" >> ~/.bashrc
echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
source ~/.bashrc

For ROS Indigo:

echo -e "\n# Gazebo" >> ~/.bashrc
echo "source <REPLACE_BY_YOUR_GAZEBO_INSTALLATION_DIRECTORY>/gazebo/setup.sh" >> ~/.bashrc
echo "# ROS" >> ~/.bashrc
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

1. Install the Nao meshes:

sudo apt-get install ros-indigo-nao-meshes

1. Clone the Robocup 3D simulation repository:

cd $HOME
git clone https://github.com/osrf/robocup_3d_simulation.git

1. Create a catkin workspace:

mkdir -p ~/robocup_ws/src && cd ~/robocup_ws/src
ln -s ~/robocup_3d_simulation
cd ..
catkin_make install

1. Prepare the environment:

. install/setup.bash

Running

1. Start roscore in a new terminal:

roscore

1. Start Gazebo with the 3d simulation soccer field in a new terminal:

gazebo robocup3d.world

1. Spawn a team of agents:

spawnTeams

1. Run your own agent.:

   1. Run the s-expression interface program to be able to convert between ROS messages and s-expression. Open a new terminal and execute:

   sExprInterface.py localhost 33001
   

   1. You can select your favorite port. Start and connect a real agent with the s-expression interface program in the port you entered in the previous step. For example:

   ./start.sh localhost -p 33001
   

2. [Optional] Additional agents can be inserted by typing the following command, where the last two parameters are the team name and uniform number respectively:

createAgent $ROS_ROOT/../robocup_model_resources/nao_models/nao_soccer.sdf teamA 3

1. [Optional] Run rcssserver3d just to draw the field in the roboviz:

rcssserver3d

1. [Optional] Run roboviz to be able to debug the agents:

roboviz.sh

Interacting with the simulation

We use ROS for interact with the simulation and modify the state of the game. Spawn a team of agents following the instructions previously detailed.

1. Modify the state of the game. Open a new terminal and run:

rosservice call /gameController/set_game_state KickOff_Left

After a few seconds the game will switch to `PlayOn.

The list of available game states is: BeforeKickOff, KickOff_Left, KickOff_Right, PlayOn, KickIn_Left, KickIn_Right, corner_kick_left, corner_kick_right, goal_kick_left, goal_kick_right, GameOver, Goal_Left, Goal_Right, free_kick_left, kick_kick_right.

1. Show the state of the game. Type in the previously open terminal:

rostopic echo /gameController/game_state

1. Move the ball specifying [<X>, <Y>, <Z>, <VX>, <VY>, <VZ>]:

rosservice call /gameController/move_ball 2 1 0 0 0 0

1. Move a player specifying [<Team name> <uniform number> [<X>, <Y>, <THETA>]:

rosservice call /gameController/move_agent teamA 1 [3,2,0]