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RoboCup 2023 – Open Source Award Submission TIGERs Mannheim
by Andre R. 04 Jul '23

04 Jul '23

Dear SSL-Community, as in the past years we are very happy to announce our entry for the Open Source Award. The usual one-stop shop to get it all was updated: https://github.com/TIGERs-Mannheim We are doing a complete and full release of everything we have, including electronics, mechanics, firmware, our full AI, and some awesome new tools. Here is a brief description of what has changed. Mechanics: The dribbler dampening and dribbling bar have changed again to improve traction on the ball. These are mostly material changes. The axes of the sub-wheels changed to be more robust. The release includes the full robot mechanics. Inventor CAD files, but also a STEP file of the full robot. Firmware: Dribbler current control has been improved near zero velocity. Interface to the robot's raspberry pi has been improved with new messages and feedback of detected balls. The release also includes our wireless protocol and base station firmware. Software (AI): The heart and brain of our team, the central control software "Sumatra". Of course, compatible with the simulation protocol. So you can test your AI against ours locally. Pass finding has been largely improved and now contains a dynamic learning component. Also watch out for some more serious dribbling moves which will make you sweat 😉 RobotPi: The software for ball detection running on a Raspberry Pi 3A+ on each of our robots. Most of the color blob detection and thresholding has been rewritten and is parallelized via multi-threading. The RPi uses only around 50% of its CPU now. TIGERs CLAV (Cut Lengthy Audio/Video): This is an C++ ImGui based application able to cut video files based on an SSL gamelog. You can synchronize multiple videos and gamelogs with individual markers and the tool can then cut out non-running stages. This tool is still quite new and may not support every video format, but nonetheless it is already a great help to preprocess videos from matches. Oh and it can create a status overlay video for your videos, too (similar to the status board). In case you are missing any information or if you are just curios, contact us on Discord or write us an email. Tigertastic Greetings, TIGERs Mannheim

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RoboCup 2023 - Open Source Award Submission RoboTeam Twente
by Emy Ganzeboom | RoboTeam Twente 03 Jul '23

03 Jul '23

Dear SSL community, Hereby, RoboTeam Twente would like to submit our projects for the Open Source Award. RoboTeam Twente Wiki <https://wiki.roboteamtwente.nl/> RoboTeam Twente AI Software <https://github.com/RoboTeamTwente/roboteam> RoboTeam Twente Embedded <https://github.com/RoboTeamTwente/roboteam_microcontroller5.0> RoboTeam Twente AutoRef <https://github.com/RoboTeamTwente/roboteam_autoref> High Speed USB Library for STM32 <https://github.com/RoboTeamTwente/Basestation/tree/feature/custom_usb_class> Chat-TDP <https://github.com/emielsteerneman/TDP> Our Wiki provides all the mechanical and electrical designs of our robots. Furthermore, it contains the theoretical background and additional explanations about our AI and control software. On our Github you can find our new path planning within our AI code, as well as our innovative dribbler ball-sensor code (see this year's ETDP <https://ssl.robocup.org/wp-content/uploads/2023/02/2023_ETDP_RoboTeam_Twent…> ). This year we created an AutoRef, allowing for a majority vote between all AutoRefs. This software is under active development, but our AutoRef will most likely be used during RoboCup 2023. Next to that, we developed a high speed USB library compatible with our STM32 chip. This results in an enhanced stability when connecting USB devices to the STM32F676ZI. With minor modifications, this is also suitable for other STM chips. Lastly, our latest innovation is our very own Chat-GPT, containing all information on all the (E)TDPs within the SSL. Just ask your question, and the answer will be provided. This Chat-TDP is currently still under construction, but great progress has already been made and we feel like this could be beneficial for all teams within SSL. Thank you! -- Met vriendelijke groeten / Kind regards, *Emy Ganzeboom* Team Manager | Control Engineer Phone: LinkedIn: Website: +31 (0)6 21 37 45 87 Emy Ganzeboom <https://nl.linkedin.com/in/emy-ganzeboom-8a9b47193> www.roboteamtwente.nl Do you want to support our team? Please take a look at our crowdfunding page <https://www.steunutwente.nl/project/roboteam-twente-2023>!

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RoboCup 2023 - Open Source Award Submission luhbots Soccer
by Sebastian Knackstedt 03 Jul '23

03 Jul '23

Hello SmallSizeLeague, luhbots Soccer would like to submit our current hardware and software work for the Open Source Award. Links: Hardware: CAD Files for our Robot <https://github.com/luhsoccer/luhsoccer_hardware> Electronics: Schematics for all our PCBs from the robot and our basestation. <https://github.com/luhsoccer/luhsoccer_electronics> Firmware: The code for the eletronics. Include the fireware for the mulitple MCUs on the robots and the basestation. <https://github.com/luhsoccer/luhsoccer_firmware> Software: The framework to control the robots. <https://github.com/luhsoccer/luhsoccer_baguette> A short summary of the projects: The CAD files are designed via Autodesk Inventor and can be opened accordingly. The Schematics and PCB Files are designed via KiCAD 7.0. The Firmware is completely written in Rust and designed for the RP2040 (the robots) and the ATSAM4E (the basestation). The software is written in C++ and contains various python bindings which can be used to develop a high level strategy around the software. Documentation is contained via Doxygen and can be built seperatly. Greetings, Sebastian Knackstedt, luhbots Soccer -- SebastianKnackstedt Leitung Software Soccer | luhbots sebastian.knackstedt(a)luhbots.de <mailto:sebastian.knackstedt@luhbots.de> luhbots-hannover.de <//luhbots-hannover.de> Appelstrasse 11, 30167 Hannover

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Final preparations for RoboCup
by Carla Cosenza 03 Jul '23

03 Jul '23

Hello! As RoboCup approaches, we need some more information from all teams to prepare the venue. As some are aware, some parts of Bordeaux are having a curfew enforced due to the protests that are happening. We would like for teams to inform us where they are staying so that we can modify the schedule if the curfew persists during the competition. So please have one member of your team send your hotel location to Selina (selinazwerver(a)gmail.com), through discord or email. We would like to also inform everyone that if the curfew persists, we will have modifications in the schedule so please check it regularly. We also need to know how many people are coming per team, in order to organize the tables. So please send the amount of people coming to the competition from your team to Selina TODAY (selinazwerver(a)gmail.com), through discord or email. Finally, we would like to remind everyone that tomorrow is the first set up day. We cannot guarantee that the cameras will be working first thing tomorrow, but we are working on getting them up and running as soon as possible. The venue should be open at 8am and it would be ideal to have teams here for easier communication. Thank you very much and we will see you all soon! Carla Cosenza RoboCup Small Size League | Organizing Committee

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RoboCup 2023 – Open Source Award Submission RoboJackets
by Alex Sohrab 02 Jul '23

02 Jul '23

Hello SSL community, RoboJackets would like to submit our open source work for this SSL award. Printed Circuit Boards <https://github.com/RoboJackets/robocup-pcb> RRT Path Planning <https://github.com/RoboJackets/rrt> GUI, High Level Planning, and Strategy Software <https://github.com/RoboJackets/robocup-software> FreeRTOS firmware <https://github.com/RoboJackets/robocup-firmware> All information regarding documentation can be found within the repositories. RoboJackets has made all parts of our development open source (RobotCAD is currently unavailable due to GrabCAD being down, and we are searching for alternatives). Some of the main innovations involve practical applications of ROS2 for software and FreeRTOS for on-board robot control. Another goal of ours this year was increased documentation: for example software documentation can be found at this website <https://rj-rc-software.readthedocs.io/en/latest/>. Thank you, RoboJackets, Georgia Tech Kasra Alexander Sohrab

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RoboCup 2023: One Week Update
by Nicolai Ommer 24 Jun '23

24 Jun '23

Dear all, As RoboCup is starting in approximately one week (!) we would like to update you on the final topics. Radio Frequency Requirements Please submit your radio frequency requirements <https://forms.gle/SJudXbUZ2wQBA9ND9> by June 28th so that we can assign frequencies to teams and clarify any issues with the LOC. You can have a look at the previous year's assignment <https://docs.google.com/spreadsheets/d/1hRFL8HIk0Z2CVAxTixg-ktKgxDcJ24r7Orh…> to get an idea of what other teams used, but note that there are more teams this year. We’ll do our best to assign frequencies in a fair manner. Tasks for new teams We would like to remind new teams that there are some things you have to do in order to play matches. An overview is given here <https://ssl.robocup.org/joining-the-small-size-league/>. Please make sure you have performed all actions as soon as possible, but at the latest before the competition starts. TC signup The RoboCup Small Size League 2023 Technical Challenges are the Chip Pass Challenge and the Ball Placement Challenge. Please sign up your team to participate in this form <https://forms.gle/dGcoXAeZgxp9XFLA8>. More information about the TC and their rules here <https://ssl.robocup.org/robocup-2023-technical-challenges/>. Deadline is June 28th. Open source submissions The RoboCup Small Size League Open Source Award goes to a team that has demonstrated a commitment to sharing and supporting their software and hardware designs for the benefit and advancement of the RoboCup community. If you would like to take a shot at the award, you have to send an email to the Small Size League Mailing list with the following information: - Link(s) to the open source project - Link(s) to any related documentation for using the open source project - A short description of the project and documentation submitted and their innovation and relevance to the RoboCup Small Size League. The subject of the email should be “RoboCup 2023 - Open Source Award Submission <Your Team Name>”. Late submissions will not be considered. More information about the open source award can be found here <https://ssl.robocup.org/robocup-2023-awards/>. Referee quiz Similar to last year, we have created a referee quiz. This quiz is designed to improve the notoriously poor quality of many of our referees. Each team needs to be able to perform the impartial roles (referee, assistant, game controller operator and vision expert) for matches where they are not playing themselves. Finishing the rules quiz correctly will be necessary for that, and only people who finish the quiz are allowed to perform the impartial roles. Please fill in the quiz before the start of the competition . The quiz contains some open questions. Please try to explain as best as possible how you would handle the described situation. It is to give us an indication of how teams would act. The OC will provide the preferred course of action on the first day of the competition. The quiz can be found here <https://forms.gle/35fJVy49j6QkefEG8>. A useful reference would be the rule book <https://robocup-ssl.github.io/ssl-rules/sslrules.pdf>. ETDP posters All division A teams are required to bring along a poster that illustrates the content of the paper. The poster must be of A0 size and will be hung at the RoboCup venue. Please remember to design and print this poster. Groups We’ve drawn the groups as outlined in our previous email. The results for Division A are: Group A: TIGERs (GermanyA) Robodragons (JapanA) Roboteam-Twente (Netherlands) KIKS (JapanB) Group B: ZJUNlict (ChinaA) SRC (ChinaB) ER-Force (GermanyB) Immortals (Iran) The results for Division B are: Group A: RoboCIn (BrazilA) Ri-one (Japan) The-A-Team (USA) Group B: luhbots-Soccer (Germany) UBC-Thunderbots (Canada) OrcaBOT (Thailand) Group C: RoboIME (BrazilB) RoboJackets (USA) Sysmic-Robotics (Chile) Group D: RoboFEI (BrazilC) NAMEc (France) ITAndroids (BrazilD) And in case ZJUNlict cannot make it to France, the alternative group in Divisions A are: Group A: TIGERs (GermanyA) Roboteam-Twente (Netherlands) Robodragons (JapanA) Dummy2 (Dummy) Group B: ER-Force (GermanyB) SRC (China) KIKS (JapanB) Immortals (Iran) We will decide on which of the Division A groups are used on the 5th, right after the open source presentations, with the information available to TC/OC at that time. Also note that SRC has withdrawn their participation, so the matches against them will be skipped. Reminder: Preference to play with walls Please remember to choose your preference towards playing with walls in this form <https://forms.gle/eeWT9Z8FQBJVaTmH6> (regardless of your preference). So far, 13 teams have voted. We have extended the deadline to June 28th to give the other teams a bit more time. Heads Up: Redesigned Game Controller UI If you have not noticed yet: The UI of the SSL Game Controller has been completely redesigned. We strongly encourage you to have a look and get familiar with it, so that you are not surprised in the first match. https://github.com/RoboCup-SSL/ssl-game-controller See you all in Bordeaux soon! Nicolai In behalf of the SSL committee

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Wifi spectrum enforcement at RoboCup 2023
by UBC Thunderbots 17 Jun '23

17 Jun '23

Dear OC and TC’s, We hope this email finds you all in good health. We are concerned about the enforcement of 3.2.5 Radio Communication for the Small Size League at Bordeaux this year. Thunderbots communicate with their robots using WiFi and last year, due to the uncontrolled WiFi spectrum at the venue, we encountered significant network congestion and latencies. Despite being assigned a specific WiFi channel we could use at competition, we found that many participants in the competition started WiFi hotspots that occupied our channel. We are wondering and hoping the organizers can implement stricter enforcement of assigned WiFi channels in Bordeaux this year, as it was done in Sydney 2019. This would greatly help our gameplay and naturally be greatly appreciated. Let us know if this is possible and whether there are any planned strategies for the enforcement of WiFi channel assignments this year. Cheers, Yichen Zhou, Team Captain Arun Balumunari, Software Lead --- *UBC Thunderbots* Faculty of Applied Science The University of British Columbia | Vancouver Campus robocup(a)ece.ubc.ca | http://ubcthunderbots.ca/

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Tournament structure, group seeding and preference to play with walls
by Tobias Heineken 13 Jun '23

13 Jun '23

Dear SSL-Community, RoboCup 2023 will start in 3 weeks, so we wanted to give you some updates regarding playing with walls and the grouping. Playing with walls This year, we will offer all teams to play their matches with walls. To allow for some preparation, the preference to play with walls can not be changed arbitrarily: We ask all teams to announce their preference till June 23rd (anywhere on earth)through this form <https://forms.gle/eeWT9Z8FQBJVaTmH6>. The responses are published <https://docs.google.com/forms/d/1Kb2voTSFtIJvoxmoRSsCpZO-80mZgIoPBiBJQQCohj…>immediately. The preference is binding for all matches in the group phase. It can be changed once between the group and the elimination phase through this form <https://forms.gle/oNAEMGAjE77TcSCH8>and is then binding for the remaining games. A match is played with walls, if both teams have announced their preference for wall games. Playing with walls underlies the following rule changes: * Rule 6 - Ball Leaves The Field <https://robocup-ssl.github.io/ssl-rules/sslrules.html#_ball_leaves_the_field>does not apply * The field size is increase by the field boundary - ssl-vision will send a Geometry with adjusted field sizes and a boundary width of zero Tournament Structure & Group seeding We have finished the schedule and the seeding for the upcoming Robocup. You can find the schedule at https://docs.google.com/spreadsheets/d/1EUjOuGdRLxptcESywCAKdruRATmy2j6ezu6… <https://docs.google.com/spreadsheets/d/1EUjOuGdRLxptcESywCAKdruRATmy2j6ezu6…>. Division A will play a 8 player competition, with 2 groups of 4 teams each, followed by a double-elimination knockout tournament, similar to the competition in 2019. Compared to 2019, the matches of 'winner of each group against 4th of the other group' are canceled, and the winner of the group is assumed to win this, and the last place of the group is assumed to lose that match. As a result, 1st of each group skips Upper Round 1 / 2 (which now only 2nd vs 3rd each) and starts in the upper semifinals. The 4th of each group starts in the Lower Tournament. Division B will play a 12 player competition, with 4 groups of 3 teams each, followed by a single-elimination knockout tournament. Similar to 2019 and LARC 2022, but different to Robocup 2022 in Bangkok. This also means 90 mins per match in Division B (was 120 mins). This is necessary to accommodate the increased number of participants. Please be prepared that the schedule is going to be tight. As in Division A, the winners of each group get to skip the first round of the knockout stage as a reward for winning their groups. The Repositoryhttps://github.com/RoboCup-SSL/ssl-grouping <https://github.com/RoboCup-SSL/ssl-grouping>is already updated to include the newly seeded teams. As we are going to draw both a two group and a four group competition, I modified the software to first take the number of groups as a first parameter, followed by the two random seeds. We also disabled country locking in Division A (too few distinct countries participating), but enabled it in Division B except for Brazil. So if you're competing in Division B and are from a different country than Brazil, you are promised not to play another team from your country in the group stage. We are going to use the random numbers given by the following link: https://www.random.org/integers/?num=6&min=1&max=123456&col=5&base=10&forma… <https://www.random.org/integers/?num=6&min=1&max=123456&col=5&base=10&forma…> Please note that this link does not work yet (to make sure I didn't pick some random numbers I liked best), because it will use the pre-generated random numbers from 24th of June and will only work on and after 24th of June. As soon as the numbers are available, the link will create 6 numbers. The two most left numbers are going to be used to draw the division A groups (with `ln -f teamsA.txt teams.txt; ./grouping 2 <firstSeed> <secondSeed>`) and the second pair to draw the division B groups (with `ln -f teamsA.txt teams.txt; ./grouping 4 <thirdSeed> <fourthSeed>`). TC/OC has been made aware that both teams from China are currently experiencing visa issues for France. To avoid the issue where the top seed from one of the two divA groups is missing (and the group is as a result much weaker) the third pair will be used to draw groups where ZJU is replaced by a dummy team (in seed 3), ER-Force is moving up to pool 1, and KIKs is moving up to pool 2. If you want to challenge the seeding for the competition, you have to do this before the groups are drawn, i.e. before random.org published the random numbers for the 24th. As the earth is round and time zones are unpredictable, send your complaints on or before 22nd AoE. See you in France!

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New auto-referee from RoboTeam Twente
by Nicolai Ommer 03 May '23

03 May '23

Dear SSL community, RoboTeam Twente announced a new auto-referee implementation that they are currently working on: https://github.com/RoboTeamTwente/roboteam_autoref They plan to support at least a subset of the rule detections that the other two auto-referees from ER-Force and TIGERs support. The ssl-game-controller is already using a majority vote on most rule infringements reported by the auto-referees, so a third implementation will improve the robustness further. The new implementation will support the existing two auto-referees during RoboCup 2023 under close supervision by the technical committee. Best, Nicolai In behalf of the SSL TC committee

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SSL 2023 Technical Challenges
by Lucas Cavalcanti 17 Apr '23

17 Apr '23

Dear SSL-Community, This year we will have two technical challenges, the chip pass challenge and the ball placement. Chip Pass Similar to the pass endurance Hardware Challenge from 2021, the goal is to perform as many passes as possible within a certain time. And there will be more points if the ball is chipped. Ball Placement Similar to previous years, only teams that never participated in Division A before may attend it. We will not require attendance, though we strongly encourage teams from Division B to do so. Both challenge rules are available on the SSL website: https://ssl.robocup.org/robocup-2023-technical-challenges/ See you all in Bordeaux!

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