Update custom ER-Force RobotSpecs (remove dribbler_height)

RoboCup-SSL · May 8, 2021 · 2302c37 · 2302c37
1 parent 202987f
commit 2302c37
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Showing 17 changed files with 47 additions and 71 deletions.
diff --git a/config/robot-specs.yaml b/config/robot-specs.yaml
@@ -15,7 +15,6 @@ robot-specs:
       vel_angular_max: 20
     custom_erforce:
       shoot_radius: 0.067
-      dribbler_height: 0.04
       dribbler_width: 0.07
   "ER-Force":
     radius: 0.09
@@ -33,5 +32,4 @@ robot-specs:
       vel_angular_max: 20
     custom_erforce:
       shoot_radius: 0.067
-      dribbler_height: 0.04
       dribbler_width: 0.07
diff --git a/generateProto.sh b/generateProto.sh
@@ -5,27 +5,8 @@ set -e
 # Print commands
 set -x
 
-# common GC
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_common.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_geometry.proto
+# Update to latest protobuf compiler
+go install google.golang.org/protobuf/cmd/protoc-gen-go@latest
 
-# vision
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_geometry.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper.proto
-
-# tracked vision
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_detection_tracked.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_vision_wrapper_tracked.proto
-
-# game events
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_game_event.proto
-
-# referee message
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_referee_message.proto
-
-# simulation control
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_custom_erforce_robot_spec.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_error.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_config.proto
-protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_simulation_control.proto
+# Generate all protobuf code
+protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/*.proto
diff --git a/internal/geom/ssl_gc_geometry.pb.go b/internal/geom/ssl_gc_geometry.pb.go
diff --git a/internal/referee/ssl_gc_common.pb.go b/internal/referee/ssl_gc_common.pb.go
diff --git a/internal/referee/ssl_gc_game_event.pb.go b/internal/referee/ssl_gc_game_event.pb.go
diff --git a/internal/referee/ssl_gc_referee_message.pb.go b/internal/referee/ssl_gc_referee_message.pb.go
diff --git a/internal/simctl/handler_robot_specs.go b/internal/simctl/handler_robot_specs.go
@@ -34,9 +34,8 @@ type Limits struct {
 }
 
 type CustomRobotSpecErForce struct {
-	ShootRadius    float32 `yaml:"shoot_radius"`
-	DribblerHeight float32 `yaml:"dribbler_height"`
-	DribblerWidth  float32 `yaml:"dribbler_width"`
+	ShootRadius   float32 `yaml:"shoot_radius"`
+	DribblerWidth float32 `yaml:"dribbler_width"`
 }
 
 type RobotSpecHandler struct {
@@ -128,9 +127,8 @@ func mapRobotSpec(spec RobotSpec) (protoSpec *RobotSpecs) {
 	protoSpec.Limits = mapRobotLimits(spec.Limits)
 
 	customErForce := RobotSpecErForce{
-		ShootRadius:    &spec.CustomErforce.ShootRadius,
-		DribblerHeight: &spec.CustomErforce.DribblerHeight,
-		DribblerWidth:  &spec.CustomErforce.DribblerWidth,
+		ShootRadius:   &spec.CustomErforce.ShootRadius,
+		DribblerWidth: &spec.CustomErforce.DribblerWidth,
 	}
 	customErForceSerialized, err := proto.Marshal(&customErForce)
 	if err != nil {

diff --git a/internal/simctl/ssl_simulation_config.pb.go b/internal/simctl/ssl_simulation_config.pb.go
diff --git a/internal/simctl/ssl_simulation_control.pb.go b/internal/simctl/ssl_simulation_control.pb.go
diff --git a/internal/simctl/ssl_simulation_custom_erforce_robot_spec.pb.go b/internal/simctl/ssl_simulation_custom_erforce_robot_spec.pb.go
diff --git a/internal/simctl/ssl_simulation_error.pb.go b/internal/simctl/ssl_simulation_error.pb.go
diff --git a/internal/tracker/ssl_vision_detection_tracked.pb.go b/internal/tracker/ssl_vision_detection_tracked.pb.go
diff --git a/internal/tracker/ssl_vision_wrapper_tracked.pb.go b/internal/tracker/ssl_vision_wrapper_tracked.pb.go
diff --git a/internal/vision/ssl_vision_detection.pb.go b/internal/vision/ssl_vision_detection.pb.go
diff --git a/internal/vision/ssl_vision_geometry.pb.go b/internal/vision/ssl_vision_geometry.pb.go
diff --git a/internal/vision/ssl_vision_wrapper.pb.go b/internal/vision/ssl_vision_wrapper.pb.go
diff --git a/proto/ssl_simulation_custom_erforce_robot_spec.proto b/proto/ssl_simulation_custom_erforce_robot_spec.proto
@@ -5,9 +5,19 @@ option go_package = "github.com/RoboCup-SSL/ssl-simulation-controller/internal/s
 message RobotSpecErForce {
     // The distance [m] from the robot center to the ball, when the ball is as close as possible to the robot.
     // The ball may be a little bit inside the robot when looking from top, due to the dimensions of the dribbler.
-    required float shoot_radius = 1;
+    optional float shoot_radius = 1;
     // The height of the dribbling bar from the ground [m]
-    required float dribbler_height = 2;
+    // required float dribbler_height = 2;
+
+    // Note for all teams: dribbler_height is not read at the moment, and so commented out and reserved.
+    // We as ER-Force think setting a different dribbler-hight (without beeing able to change
+    // max rpm or dribbler radius) will most likely result in
+    // A) A robot that cannot dribble the ball properly
+    // B) A robot that cannot shoot the ball properly
+    // C) A robot that might suck the ball on top of the mesh or
+    // D) A robot that might such the ball under the mesh and flip over.
+    // As none of those sound appealing, we disabled configuring the dribbler height for now.
+    reserved 2;
     // The width of the dribbler itself (where the ball can be controlled), without the mechanical frame [m].
-    required float dribbler_width = 3;
+    optional float dribbler_width = 3;
 }