Implement soccer_mom

launch/soccer.launch.py

@@ -147,6 +147,14 @@ def generate_launch_description():
                 parameters=[param_config_filepath],
                 on_exit=Shutdown(),
             ),
+            Node(
+                condition=IfCondition(PythonExpression([run_sim])),
+                package="rj_robocup",
+                executable="soccer_mom_node",
+                output="screen",
+                parameters=[param_config_filepath],
+                on_exit=Shutdown(),
+            )
             Node(
                 condition=IfCondition(PythonExpression(["not ", run_sim])),
                 package="rj_robocup",

soccer/CMakeLists.txt

@@ -82,6 +82,7 @@ add_executable(external_referee_node)
 add_executable(planner_node)
 add_executable(control_node)
 add_executable(sim_radio_node)
+add_executable(soccer_mom_node)
 add_executable(network_radio_node)
 add_executable(manual_control_node)
 add_executable(global_param_server_node)
@@ -172,6 +173,9 @@ set(REFEREE_NODE_DEPS_LIBRARIES robocup)
 set(RADIO_NODE_DEPS_SYSTEM_LIBRARIES)
 set(RADIO_NODE_DEPS_LIBRARIES robocup)
 
+set(SOCCER_MOM_NODE_DEPS_SYSTEM_LIBRARIES)
+set(SOCCER_MOM_DEPS_LIBRARIES robocup)
+
 set(CONTROL_NODE_DEPS_SYSTEM_LIBRARIES)
 set(CONTROL_NODE_DEPS_LIBRARIES robocup)
 
@@ -221,6 +225,10 @@ target_link_libraries(external_referee_node PRIVATE ${REFEREE_NODE_DEPS_SYSTEM_L
 target_link_libraries(internal_referee_node PRIVATE ${REFEREE_NODE_DEPS_SYSTEM_LIBRARIES}
         ${REFEREE_NODE_DEPS_LIBRARIES})
 
+# -- soccer_mom node --
+target_link_libraries(soccer_mom_node PRIVATE ${SOCCER_MOM_NODE_DEPS_SYSTEM_LIBRARIES}
+        ${SOCCER_MOM_NODE_DEPS_LIBRARIES})
+
 # -- sim_radio_node --
 target_link_libraries(sim_radio_node PRIVATE ${RADIO_NODE_DEPS_SYSTEM_LIBRARIES}
         ${RADIO_NODE_DEPS_LIBRARIES})
@@ -289,6 +297,7 @@ install(
         planner_node
         control_node
         sim_radio_node
+        soccer_mom_node
         network_radio_node
         manual_control_node
         global_param_server_node

soccer/src/soccer/CMakeLists.txt

@@ -73,6 +73,7 @@ set(ROBOCUP_LIB_SRC
     ros2_temp/referee_sub.cpp
     ros2_temp/autonomy_interface.cpp
     ros2_temp/debug_draw_interface.cpp
+    soccer_mom/soccer_mom.cpp
     strategy/agent/agent_action_client.cpp
     strategy/agent/communication/communication.cpp
     strategy/agent/position/position.cpp
@@ -123,6 +124,8 @@ set(SIM_RADIO_NODE_SRC radio/sim_radio_node_main.cpp)
 
 set(NETWORK_RADIO_NODE_SRC radio/network_radio_node_main.cpp)
 
+set(SOCCER_MOM_NODE_SRC soccer_mom/soccer_mom_node_main.cpp)
+
 set(MANUAL_CONTROL_NODE_SRC joystick/manual_control_node_main.cpp)
 
 set(GLOBAL_PARAMETER_SERVER_NODE_SRC global_param_server.cpp)
@@ -163,6 +166,9 @@ target_sources(sim_radio_node PRIVATE ${SIM_RADIO_NODE_SRC})
 # ---- sim_radio_node ----
 target_sources(network_radio_node PRIVATE ${NETWORK_RADIO_NODE_SRC})
 
+# ---- soccer mom node ----
+target_sources(soccer_mom_node PRIVATE ${SOCCER_MOM_NODE_SRC})
+
 # ---- manual_control_node ----
 target_sources(manual_control_node PRIVATE ${MANUAL_CONTROL_NODE_SRC})
 

soccer/src/soccer/soccer_mom/soccer_mom.cpp

@@ -0,0 +1,29 @@
+#include "soccer_mom.hpp"
+
+namespace tutorial {
+
+SoccerMom::SoccerMom()
+    :  Node{"soccer_mom", rclcpp::NodeOptions{}
+                        .automatically_declare_parameters_from_overrides(true)
+                        .allow_undeclared_parameters(true)} {
+    team_color_sub_ = create_subscription<rj_msgs::msg::TeamColor>(
+        referee::topics::kTeamColorTopic, rclcpp::QoS(1).transient_local(),
+        [this](rj_msgs::msg::TeamColor::SharedPtr color) {  // NOLINT
+            publish_fruit(color->is_blue);
+        });
+
+    mom_msg_pub_ = create_publisher<std_msgs::msg::String>(
+        pub_topic, rclcpp::QoS(1));
+}
+
+void SoccerMom::publish_fruit(bool is_blue_team) {
+    auto msg = std::make_unique<std_msgs::msg::String>();
+    if (is_blue_team) {
+        msg->data = "blueberries";
+    } else {
+        msg->data = "banana";
+    }
+    mom_msg_pub_->publish(std::move(msg));
+}
+
+} // namespace tutorial

soccer/src/soccer/soccer_mom/soccer_mom.hpp

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <rj_constants/topic_names.hpp>
+
+#include "std_msgs/msg/string.hpp"
+#include "rj_msgs/msg/team_color.hpp"
+
+namespace tutorial {
+
+class SoccerMom : public rclcpp::Node {
+public:
+    SoccerMom();
+
+private:
+    void publish_fruit(bool is_blue_team);
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr mom_msg_pub_;
+    rclcpp::Subscription<rj_msgs::msg::TeamColor>::SharedPtr team_color_sub_;
+    const std::string pub_topic = "team_fruit";
+};
+
+} // namespace tutorial

soccer/src/soccer/soccer_mom/soccer_mom_node_main.cpp

@@ -0,0 +1,8 @@
+#include "soccer_mom.hpp"
+
+int main(int argc, char** argv) {
+    rclcpp::init(argc, argv);
+
+    auto soccer_mom = std::make_shared<tutorial::SoccerMom>();
+    rclcpp::spin(soccer_mom);
+}