[robocup-small] Robocup 2021 - ER-Force simulator offering

[Nicolai Ommer]

Dear SSL community,

please find the simulator offering of ER-Force attached.

Regards,
Nicolai

---------- Forwarded message ---------
From: Tobias Heineken <tobias.heineken at robotics-erlangen.de>
Date: Sun, 21 Feb 2021 at 10:18
Subject: Fwd: Robocup 2021 - ER-Force simulator offering
To: Nicolai Ommer <nicolai.ommer at gmail.com>

-------- Forwarded Message --------
Subject: [rc-ssl-oc] Robocup 2021 - ER-Force simulator offering
Date: Sat, 20 Feb 2021 23:58:36 +0100
From: Paul Bergmann <paul.bergmann at robotics-erlangen.de>
<paul.bergmann at robotics-erlangen.de>
Organization: Robotics Erlangen
To: rc-ssl-oc at lists.robocup.org Dear SSL community,

we, from ER-Force, would like to offer our simulator for the virtual
competition at Robocup 2021.

Our code can be found at https://nam12.safelinks.protection.outlook.com/?url=https%3A%2F%2Fgithub.com%2Frobotics-erlangen%2Fframework&data=04%7C01%7Crobocup-small%40cc.gatech.edu%7Ce685004754024b3400e408d8d64ae699%7C482198bbae7b4b258b7a6d7f32faa083%7C0%7C0%7C637494964909598799%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=E1mtWHF9GvUaF52v6yLjBK%2B5nasRkgGzgs4iimPpzwc%3D&reserved=0

Please note that usage of our simulator with the new SSL simulator protocol
is still in development.
We will soon provide additional documentation, features and bug fixes in
the repository.
Still, we want to provide some preliminary guidance here, since we thought
it would be useful to allow teams to start testing with this version

=
= Preliminary instructions
=

This framework contains all published material from ER-Force.

For the simulator, please follow the build instructions in COMPILE.md
You do not need V8 for the simulator so you can skip 'Building V8'.
The stand alone simulator is being built into a special binary located at
`bin/simulator-cli` in your build directory.
Upon starting the executable, it will automatically start publishing vision
data on port 10020,
and accepting commands on port 10301 for blue robots and on port 10302 for
yellow robots.

The configuration via port 10300 is not yet implemented but it will follow
shortly.

We are aware of the following issues that will be addressed in the
following weeks:
* Errors are not reported via robot feedback messages, but printed to
stderr / stdout.
* Only kick angles of 0 or 45 degree are allowed
* The shoot speed for chip kicks is more or less ignored (larger speed
still results in chipping further,
but the ball will not be shot with the designated speed).
* Tournament mode is not yet implemented
* Configuration via control port (10300) is not implemented
* Only local velocity is being supported

A version of this list is kept and updated in `src/simulator.cpp`

There are three things you should know when using our simulator:
* For safety, robots turn off after 0.1 seconds without a new command.
Please send a new command for each robot at least once every 50 ms to avoid
this issue.
* Contrary to what is stated on the simulator protocol, we don't assume
every unset optional field
in the robot control message to be 'the same as last time'. Instead we
assume false for dribbler
& 0 for kick_speed. If you want to keep dribbling or trying to shoot the
ball,
continue to set these fields.
* Our ball dribbling model is prune to loosing possession frequently.
We plan to offer a configuration option that mirrors grsim's 'gluing'
behavior,
but currently or if that option is not used on the competition keeping in
possession while dribbling is hard.

Expect fixes over the next weeks for the already stated issues.
Please feel free to contact us via email <info at robotics-erlangen.de>
<info at robotics-erlangen.de> if you have issues, questions or feedback.

With best regards,
Paul Bergmann

--
Robotics Erlangen e.V.
ER-Force
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