Hi 3D Soccer Simulation Teams,
This is Kenji from ROS Sports, we are pleased to announce that a ROS2 agent interface to the RoboCup 3D Soccer Simulator https://rcss3d-agent.readthedocs.io/en/latest/ is now in an alpha release stage! [image: :partying_face:]
The motivation behind the ROS2 interface for the Rcss3d Agent is to ease the entry-barrier for the 3d simulation league, and allow the simulator to be reused for other leagues in RoboCup.
GIFs are worth a thousand words. It's this easy to interact with an agent in the simulator! [image: image.png] *Sending velocity commands to the head joints*
[image: image.png] *Reading the Force Sensors on the feet and the Accelerometer*
The rcss3d_agent https://github.com/ros-sports/rcss3d_agent package provides:
- A general ROS2 library that handles the network connection and parsing/packing of data into the format that the simulator understands (s-expressions) - A basic node that provides a ROS2 pub/sub interface to the library
For 3D simulation teams, the basic node is probably all you need. Teams from other leagues such as the humanoid league or SPL, can use the general library to implement their own pub/sub layer to convert the simulator-specific msgs to their own msgs of choice.
*Why should you use this package *over continuing to use your own implementation?
- *Reduce codebase size and maintenance cost**. Who doesn't like reducing the maintenance cost of their codebase?* - *Encourages contributions to outside the 3d simulation league domain. ** For example, why can't an inverse kinematics library developed in 3d-sim be reused in all Nao applications?*
We are actively looking for teams to work with and test out the packages. Please let us know if your team may be interested in working together.
Thanks, Kenji Brameld (ijnek)
