Use ros sports game controller client (#326)

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py

@@ -185,7 +185,7 @@ def cost_at_relative_xy(self, x: float, y: float) -> float:
             # Transform point of interest to the map
             point = self._blackboard.tf_buffer.transform(point, self.map_frame, timeout=Duration(seconds=0.3))
         except (tf2.ConnectivityException, tf2.LookupException, tf2.ExtrapolationException) as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             return 0.0
 
         return self.get_cost_at_field_position(point.point.x, point.point.y)
@@ -338,7 +338,7 @@ def get_cost_of_kick_relative(self, x: float, y: float, direction: float, kick_l
             pose = self._blackboard.tf_buffer.transform(pose, self.map_frame, timeout=Duration(seconds=0.3))
 
         except (tf2.ConnectivityException, tf2.LookupException, tf2.ExtrapolationException) as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             return 0.0
         d = euler_from_quaternion(numpify(pose.pose.orientation))[2]
         return self.get_cost_of_kick(pose.pose.position.x, pose.pose.position.y, d, kick_length, angular_range)

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -5,10 +5,9 @@
 Provides information about the current game state.
 """
 from bitbots_utils.utils import get_parameters_from_other_node
+from game_controller_hl_interfaces.msg import GameState
 from rclpy.node import Node
 
-from bitbots_msgs.msg import GameState
-
 
 class GameStatusCapsule:
     def __init__(self, node: Node):

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py

@@ -175,7 +175,7 @@ def get_ball_position_uv(self) -> Tuple[float, float]:
                 ball, self.base_footprint_frame, timeout=Duration(seconds=0.2)
             ).point
         except tf2.ExtrapolationException as e:
-            self._blackboard.node.get_logger().warn(e)
+            self._blackboard.node.get_logger().warn(str(e))
             self._blackboard.node.get_logger().error("Severe transformation problem concerning the ball!")
             return None
         return ball_bfp.x, ball_bfp.y

bitbots_behavior/bitbots_blackboard/package.xml

@@ -22,8 +22,10 @@
     <build_depend>bitbots_docs</build_depend>
     <depend>bitbots_tf_listener</depend>
     <depend>bitbots_utils</depend>
+    <depend>game_controller_hl_interfaces</depend>
     <depend>python3-numpy</depend>
     <depend>rclpy</depend>
+    <depend>ros2_numpy</depend>
     <depend>tf_transformations</depend>
     <exec_depend>bio_ik_msgs</exec_depend>
     <exec_depend>bitbots_msgs</exec_depend>

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/body_behavior.py

@@ -16,14 +16,15 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from bitbots_tf_listener import TransformListener
 from dynamic_stack_decider.dsd import DSD
+from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import PoseWithCovarianceStamped, Twist, TwistWithCovarianceStamped
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup
 from rclpy.duration import Duration
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from soccer_vision_3d_msgs.msg import RobotArray
 
-from bitbots_msgs.msg import GameState, RobotControlState, TeamData
+from bitbots_msgs.msg import RobotControlState, TeamData
 
 
 class BodyDSD:

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/game_state_decider.py

@@ -1,7 +1,6 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
-from bitbots_msgs.msg import GameState
+from game_controller_hl_interfaces.msg import GameState
 
 
 class GameStateDecider(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/last_player.py

@@ -9,15 +9,15 @@ def __init__(self, blackboard, dsd, parameters=None):
         super().__init__(blackboard, dsd, parameters)
 
     def perform(self, reevaluate=False):
+        # Get nessesary data
         red_cards = self.blackboard.gamestate.get_red_cards()
         own_id = self.blackboard.misc.bot_id
 
-        # iterate through all red card states except the own one
-        for i in range(len(red_cards)):
-            if i != own_id:
-                if not red_cards[i]:
-                    return "NO"
-        return "YES"
+        # Use generator comprehension to check if all red cards are true except our own
+        if all(x for i, x in enumerate(red_cards) if i != own_id):
+            return "YES"
+        else:
+            return "NO"
 
     def get_reevaluate(self):
         return True

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/decisions/secondary_state_decider.py

@@ -1,7 +1,6 @@
 from bitbots_blackboard.blackboard import BodyBlackboard
 from dynamic_stack_decider.abstract_decision_element import AbstractDecisionElement
-
-from bitbots_msgs.msg import GameState
+from game_controller_hl_interfaces.msg import GameState
 
 
 class SecondaryStateDecider(AbstractDecisionElement):

bitbots_behavior/bitbots_body_behavior/package.xml

@@ -19,6 +19,7 @@
   <depend>bitbots_msgs</depend>
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
+  <depend>game_controller_hl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>python3-numpy</depend>
   <depend>rclpy</depend>

bitbots_misc/bitbots_bringup/launch/highlevel.launch

@@ -15,8 +15,12 @@
 
     <!-- launch game controller -->
     <group if="$(var game_controller)">
-        <include file="$(find-pkg-share humanoid_league_game_controller)/launch/game_controller.launch">
+        <include file="$(find-pkg-share game_controller_hl)/launch/game_controller.launch">
             <arg name="sim" value="$(var sim)" />
+            <arg name="use_parameter_blackboard" value="true" />
+            <arg name="parameter_blackboard_name" value="parameter_blackboard" />
+            <arg name="team_id_param_name" value="team_id" />
+            <arg name="bot_id_param_name" value="bot_id" />
         </include>
     </group>
 

bitbots_misc/bitbots_bringup/package.xml

@@ -29,6 +29,7 @@
     <exec_depend>bitbots_ros_control</exec_depend>
     <exec_depend>bitbots_utils</exec_depend>
     <exec_depend>bitbots_vision</exec_depend>
+    <exec_depend>game_controller_hl</exec_depend>
     <exec_depend>humanoid_base_footprint</exec_depend>
     <exec_depend>soccer_ipm</exec_depend>
     <exec_depend>system_monitor</exec_depend>

bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst

@@ -37,4 +37,4 @@ Test the complete software stack in simulation
     .. code-block:: bash
 
         ros2 launch bitbots_bringup simulator_teamplayer.launch
-        ros2 run humanoid_league_game_controller sim_gamestate.py
+        ros2 run game_controller_hl sim_gamestate.py

bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst

@@ -47,7 +47,7 @@ In the simulator we should see a field with a single robot.
 
 With ``game_controller:=false`` we ensure, that the game_controller_listener is not started as well, but instead
 we will simulate the current gamestate by our own script (in another terminal):
-``rr humanoid_league_game_controller sim_gamestate.py``
+``rr game_controller_hl sim_gamestate.py``
 
 Which allows us to simulate the current gamestate and different phases of the game.
 Now everything is ready for some simulation testing.

bitbots_msgs/CMakeLists.txt

@@ -27,7 +27,6 @@ rosidl_generate_interfaces(
   "msg/Cpu.msg"
   "msg/Filesystem.msg"
   "msg/FootPressure.msg"
-  "msg/GameState.msg"
   "msg/HeadMode.msg"
   "msg/JointCommand.msg"
   "msg/JointTorque.msg"

bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py

@@ -1,5 +1,6 @@
+from game_controller_hl_interfaces.msg import GameState
+
 from bitbots_localization_handler.localization_dsd.decisions import AbstractLocalizationDecisionElement
-from bitbots_msgs.msg import GameState
 
 
 class CheckGameStateReceived(AbstractLocalizationDecisionElement):

bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py

@@ -4,13 +4,14 @@
 import rclpy
 from ament_index_python import get_package_share_directory
 from dynamic_stack_decider.dsd import DSD
+from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import PoseWithCovarianceStamped
 from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
 from bitbots_localization_handler.localization_dsd.localization_blackboard import LocalizationBlackboard
-from bitbots_msgs.msg import GameState, RobotControlState
+from bitbots_msgs.msg import RobotControlState
 
 
 def init(node: Node):

bitbots_navigation/bitbots_localization_handler/package.xml

@@ -17,6 +17,7 @@
   <depend>bitbots_msgs</depend>
   <depend>bitbots_utils</depend>
   <depend>dynamic_stack_decider</depend>
+  <depend>game_controller_hl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>python3-numpy</depend>
   <depend>rclpy</depend>

bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py

@@ -5,11 +5,12 @@
 
 import numpy as np
 import rclpy
+from game_controller_hl_interfaces.msg import GameState
 from rclpy.node import Node
 from sensor_msgs.msg import Image
 from soccer_vision_2d_msgs.msg import BallArray, GoalpostArray, Robot, RobotArray
 
-from bitbots_msgs.msg import Audio, GameState
+from bitbots_msgs.msg import Audio
 from bitbots_vision.vision_modules import candidate, debug, ros_utils
 
 from . import detectors, object_manager, yoeo_handlers

bitbots_vision/package.xml

@@ -28,6 +28,7 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <depend>bitbots_msgs</depend>
   <depend>bitbots_utils</depend>
+  <depend>game_controller_hl_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>image_transport</depend>
   <depend>python3-numpy</depend>