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Code for RoboCup Middle Size League Competition by NuBot team from National University of Defense Technology
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doc first commit Jul 23, 2016
src fix minor bugs Oct 6, 2016
.catkin_workspace first commit Jul 23, 2016
.gitignore update Sep 5, 2016 Update Dec 14, 2018
configure first commit Jul 23, 2016

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

Package Summary


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


$ sudo chmod +x configure

$ ./configure

$ catkin_make


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/ for cyan robots,
    $ ./src/ 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


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