🥅 TraveSim Adapters 🔌

Protobuf adapter layer for TraveSim project

This project provides an adapter layer to non-ROS projects to work with TraveSim.

🏗️ Architecture

▶️ Running

It is necessary to clone the project and TraveSim inside the src directory of a catkin workspace. To create a workspace, refer to this link.

Than compile all the projects running the following command in the root of the catkin workspace:

catkin_make

Finally, to run the adapters along with TraveSim simply use the adapters lanchfile:

roslaunch travesim_adapters adapters.launch

🔧 Configuration

The adapters can be configured while launching the ROS nodes with roslaunch parameters or while the nodes are already running with dynamic reconfigure.

🚀 Roslaunch Parameters

There are three parameters that may be passed to the adapters.launch launcfile:

Parameter	Description	Default value
robots_per_team	Number of robots per team, should be 3 or 5.	3
gui	Whether to show TraveSim GUI or run it headless.	true
sound	Whether to play sound while spawning robots in TraveSim or not.	true

For example:

roslaunch travesim_adapters adapters.launch robots_per_team:=5

💫 Dynamic Reconfigure

There are some parameters that can be configured for each adapter node while they are running with dynamic reconfigure through the rqt interface.

📢 Referee

Parameter	Description	Default value
replacer_address	Unicast addresses of the referee adapter receiver, must be in the block 127.0.0.0/8.	"127.0.0.1"
replacer_port	Port of the referee adapter receiver, must be in the range 1024 - 49151.	20011
specific_source	Whether the referee adapter should only receive from one source only or not. If this option is enabled, the first sender to communicate with the adapter will be set as the source and receiving anything from other programs, except this first program, will throw an error message.	false
reset	"Button" to reset all protobuf communication. Useful when specific_source is enabled and you want to reset who is communicating with the adapter.	false

Observation: If the VSSReferee is restarted, its sender address will have changed, so if the specific_source option is enabled, it is necessary to reset the protobuf communication with the reset option.

🤖 Teams

Parameter	Description	Default value
yellow_team_address	Unicast addresses of the yellow team receiver from the teams adapter, must be in the block 127.0.0.0/8.	"127.0.0.1"
yellow_team_port	Port of the yellow team receiver from the teams adapter, must be in the range 1024 - 49151.	20012
blue_team_address	Unicast addresses of the blue team receiver from the teams adapter, must be in the block 127.0.0.0/8.	"127.0.0.1"
blue_team_port	Port of the blue team receiver from the teams adapter, must be in the range 1024 - 49151.	20013
specific_source	Whether the teams adapter should only receive from one source only for each team or not. If this option is enabled, the first sender to communicate with the adapter will be set as the source and receiving anything from other programs, except this first program, will throw an error message.	false
reset	"Button" to reset all protobuf communication. Useful when specific_source is enabled and you want to reset who is communicating with the adapter.	false

Observation: If the any of the teams is restarted, its sender address will have changed, so if the specific_source option is enabled, it is necessary to reset the protobuf communication with the reset option.

📸 Vision

Parameter	Description	Default value
multicast_address	Multicast address of the vision adapter, must be in the range 224.0.0.0 through 239.255.255.255.	"224.0.0.1"
multicast_port	Port of the vision adapter, must be in the range 1024 - 49151.	10002
reset	"Button" to reset all protobuf communication.	false

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