Add custom robot spec parameters for ER-Force sim

Author: g3force

config/robot-specs.yaml

@@ -13,6 +13,9 @@ robot-specs:
       acc_brake_angular_max: 50
       vel_absolute_max: 3
       vel_angular_max: 20
+    custom_erforce:
+      shoot_radius: 0.07
+      dribbler_height: 0.021
   "ER-Force":
     radius: 0.09
     height: 0.15
@@ -26,4 +29,7 @@ robot-specs:
       acc_brake_absolute_max: 6
       acc_brake_angular_max: 50
       vel_absolute_max: 3
-      vel_angular_max: 20
+      vel_angular_max: 20
+    custom_erforce:
+      shoot_radius: 0.07
+      dribbler_height: 0.021

generateProto.sh

@@ -25,6 +25,7 @@ protoc -I"./proto" -I"$GOPATH/src" --go_out="$GOPATH/src" proto/ssl_gc_game_even
 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

internal/simctl/robot_specs.go

@@ -3,6 +3,7 @@ package simctl
 import (
 	"github.com/RoboCup-SSL/ssl-simulation-controller/internal/referee"
 	"github.com/golang/protobuf/proto"
+	"github.com/golang/protobuf/ptypes/any"
 	"gopkg.in/yaml.v2"
 	"io/ioutil"
 	"log"
@@ -13,13 +14,14 @@ type TeamRobotSpecs struct {
 }
 
 type RobotSpec struct {
-	Radius             float32 `yaml:"radius"`
-	Height             float32 `yaml:"height"`
-	Mass               float32 `yaml:"mass"`
-	MaxLinearKickSpeed float32 `yaml:"max_linear_kick_speed"`
-	MaxChipKickSpeed   float32 `yaml:"max_chip_kick_speed"`
-	CenterToDribbler   float32 `yaml:"center_to_dribbler"`
-	Limits             Limits  `yaml:"limits"`
+	Radius             float32                `yaml:"radius"`
+	Height             float32                `yaml:"height"`
+	Mass               float32                `yaml:"mass"`
+	MaxLinearKickSpeed float32                `yaml:"max_linear_kick_speed"`
+	MaxChipKickSpeed   float32                `yaml:"max_chip_kick_speed"`
+	CenterToDribbler   float32                `yaml:"center_to_dribbler"`
+	Limits             Limits                 `yaml:"limits"`
+	CustomErforce      CustomRobotSpecErForce `yaml:"custom_erforce"`
 }
 
 type Limits struct {
@@ -31,6 +33,11 @@ type Limits struct {
 	VelAngularMax         float32 `yaml:"vel_angular_max,omitempty"`
 }
 
+type CustomRobotSpecErForce struct {
+	ShootRadius    float32 `yaml:"shoot_radius"`
+	DribblerHeight float32 `yaml:"dribbler_height"`
+}
+
 type RobotSpecSetter struct {
 	c *SimulationController
 
@@ -106,6 +113,20 @@ func mapRobotSpec(spec RobotSpec) (protoSpec *RobotSpecs) {
 	protoSpec.MaxChipKickSpeed = &spec.MaxChipKickSpeed
 	protoSpec.CenterToDribbler = &spec.CenterToDribbler
 	protoSpec.Limits = mapRobotLimits(spec.Limits)
+
+	customErForce := RobotSpecErForce{
+		ShootRadius:    &spec.CustomErforce.ShootRadius,
+		DribblerHeight: &spec.CustomErforce.DribblerHeight,
+	}
+	customErForceSerialized, err := proto.Marshal(&customErForce)
+	if err != nil {
+		log.Println("Could not serialize custom ER-Force robot specs: ", err)
+	}
+	customErForce.ProtoReflect().Descriptor().FullName()
+	protoSpec.Custom = append(protoSpec.Custom, &any.Any{
+		TypeUrl: "RobotSpecErForce",
+		Value:   customErForceSerialized,
+	})
 	return
 }
 

internal/simctl/ssl_simulation_custom_erforce_robot_spec.pb.go

@@ -0,0 +1,11 @@
+syntax = "proto2";
+option go_package = "github.com/RoboCup-SSL/ssl-simulation-controller/internal/simctl";
+
+// Custom robot specs for ER-Force simulator
+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 roboter when looking from top, due to the dimensions of the dribbler.
+    optional float shoot_radius = 1;
+    // The height of the dribbling bar from the ground [m]
+    optional float dribbler_height = 2;
+}