<div dir="ltr">Dear SSL community,<div><br></div><div>please find the simulator offering of ER-Force attached.</div><div><br></div><div>Regards,</div><div>Nicolai</div><div><br><div class="gmail_quote"><div dir="ltr" class="gmail_attr">---------- Forwarded message ---------<br>From: <strong class="gmail_sendername" dir="auto">Tobias Heineken</strong> <span dir="auto"><<a href="mailto:tobias.heineken@robotics-erlangen.de">tobias.heineken@robotics-erlangen.de</a>></span><br>Date: Sun, 21 Feb 2021 at 10:18<br>Subject: Fwd: Robocup 2021 - ER-Force simulator offering<br>To: Nicolai Ommer <<a href="mailto:nicolai.ommer@gmail.com">nicolai.ommer@gmail.com</a>></div><div>
<div><br></div><div>-------- Forwarded Message
--------
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<th valign="BASELINE" nowrap align="RIGHT">Subject:
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<td>[rc-ssl-oc] Robocup 2021 - ER-Force simulator offering</td>
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<th valign="BASELINE" nowrap align="RIGHT">Date: </th>
<td>Sat, 20 Feb 2021 23:58:36 +0100</td>
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<th valign="BASELINE" nowrap align="RIGHT">From: </th>
<td>Paul Bergmann <a href="mailto:paul.bergmann@robotics-erlangen.de" target="_blank"><paul.bergmann@robotics-erlangen.de></a></td>
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<th valign="BASELINE" nowrap align="RIGHT">Organization:
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<td>Robotics Erlangen</td>
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<th valign="BASELINE" nowrap align="RIGHT">To: </th>
<td><a href="mailto:rc-ssl-oc@lists.robocup.org" target="_blank">rc-ssl-oc@lists.robocup.org</a></td>
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Dear SSL community,<br>
<br>
we, from ER-Force, would like to offer our simulator for the
virtual competition at Robocup 2021.<br>
<br>
Our code can be found at
<a href="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%7C637494964909618787%7CUnknown%7CTWFpbGZsb3d8eyJWIjoiMC4wLjAwMDAiLCJQIjoiV2luMzIiLCJBTiI6Ik1haWwiLCJXVCI6Mn0%3D%7C3000&sdata=PKSqb4OT70Xe6qFYfw8xlQJeRKRda%2FMe%2BJ7PgcjpAzA%3D&reserved=0" originalSrc="https://github.com/robotics-erlangen/framework" shash="aSdGhuZc6YCx8kY+/x1ZPDCHF5gw4lV8eZfWT/0V/fv6tPt80CKXgcbX58g3kunwWvxMsC03AKI10OVWL3j39dzYnfGDdtqheMmkOvDhpCcvhnvmru3A71T8+QKa+dCOPvv1aKr7YIt0dfP3D+zaTbSj+0IB/spbv/QuhiwN2Vg=" target="_blank">https://github.com/robotics-erlangen/framework</a><br>
<br>
Please note that usage of our simulator with the new SSL simulator
protocol is still in development.<br>
We will soon provide additional documentation, features and bug
fixes in the repository.<br>
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<br>
<br>
=<br>
= Preliminary instructions<br>
=<br>
<br>
This framework contains all published material from ER-Force.<br>
<br>
For the simulator, please follow the build instructions in
COMPILE.md<br>
You do not need V8 for the simulator so you can skip 'Building
V8'.<br>
The stand alone simulator is being built into a special binary
located at `bin/simulator-cli` in your build directory.<br>
Upon starting the executable, it will automatically start
publishing vision data on port 10020,<br>
and accepting commands on port 10301 for blue robots and on port
10302 for yellow robots.<br>
<br>
The configuration via port 10300 is not yet implemented but it
will follow shortly.<br>
<br>
We are aware of the following issues that will be addressed in the
following weeks:<br>
* Errors are not reported via robot feedback messages, but printed
to stderr / stdout.<br>
* Only kick angles of 0 or 45 degree are allowed<br>
* The shoot speed for chip kicks is more or less ignored (larger
speed still results in chipping further,<br>
but the ball will not be shot with the designated speed).<br>
* Tournament mode is not yet implemented<br>
* Configuration via control port (10300) is not implemented<br>
* Only local velocity is being supported<br>
<br>
A version of this list is kept and updated in `src/simulator.cpp`<br>
<br>
There are three things you should know when using our simulator:<br>
* For safety, robots turn off after 0.1 seconds without a new
command.<br>
Please send a new command for each robot at least once every 50 ms
to avoid this issue.<br>
* Contrary to what is stated on the simulator protocol, we don't
assume every unset optional field<br>
in the robot control message to be 'the same as last time'.
Instead we assume false for dribbler<br>
& 0 for kick_speed. If you want to keep dribbling or trying to
shoot the ball,<br>
continue to set these fields.<br>
* Our ball dribbling model is prune to loosing possession
frequently.<br>
We plan to offer a configuration option that mirrors grsim's
'gluing' behavior,<br>
but currently or if that option is not used on the competition
keeping in possession while dribbling is hard.<br>
<br>
Expect fixes over the next weeks for the already stated issues.<br>
Please feel free to contact us via email
<a href="mailto:info@robotics-erlangen.de" target="_blank"><info@robotics-erlangen.de></a> if you have issues, questions or
feedback.<br>
<br>
With best regards,<br>
Paul Bergmann<br>
<br>
--<br>
Robotics Erlangen e.V.<br>
ER-Force<br>
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