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Code for RoboCup Middle Size League Competition by NuBot team from National University of Defense Technology
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README.md

MSL soccer robot code of NuBot team of National University of Defense Technology

Package Summary

Note

The strategy part in nubot_control package has been removed. 
But you can still compile the package successfully.

Compile

$ sudo chmod +x configure

$ ./configure

$ catkin_make

RUN

For real robot applications

  1. All components:
    $ roslaunch nubot_common nubot.launch
  2. Joy stick and hardware controller
    $ roslaunch nubot_hwcontroller nubot_hwcontroller.launch
    $ rosrun nubot_hwcontroller nubot_teleop_joy
  3. Show images from the cameras
    $ rqt_image_view

For simulation

  1. Please edit the file: core.hpp and uncomment '#define SIMULATION'; then compile the code again.
  2. Run the following commands:
    $ ./src/cyan_spawn_model.sh for cyan robots,
    or
    $ ./src/magenta_spawn_model.sh for magenta robots.

Error & Fix

  1. Problem: nubot_hwcontroller shows an error: 'pid *** died'.
    Solution: $ sc devel/lib/nubot_hwcontroller/nubot_hwcontroller_node The command 'sc' is an alias of 'sudo setcap cap_net_raw=ep'

  2. Problem: CMake Error at nubot/color_segment/CMakeLists.txt:40 (Qt5_WRAP_CPP): Unknown CMake command "Qt5_WRAP_CPP".
    Explanation: using color_segment package to calibrate color-related parameters. This requires Qt since it has a Qt GUI.
    Solution 1: You could just delete this package since it does not interfere with other parts. So the compile will go on.
    Solution 2: Go to src/nubot/color_segment and edit CMakeLists.txt line 4; change the path to your Qt5Widgets.

  3. Problem: hwcontroller_node.cpp:6:21: fatal error: ncurses.h: No such file or directory
    Solution: $ sudo apt-get install libncurses5-dev

  4. help files are located in /doc folder; please refer to them

Contact

NuBot Team: nubot.nudt@outlook.com or nubot.nudt@gmail.com

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