Humanoid League Virtual Season Player

Introduction

This repository provides a ROS 2 package named hlvs_player that can be used to communicate with the Webots server while using the Player/Client API for the Humanoid League Virtual Season.

It requests and receives sensor data (specified in the src/hlvs_player/resources/devices.json) over specific topics and subscribes to actuator command messages(only position control available at the moment). Node hlvs_player is responsible for these operations.

This node is currently available only for ROS 2.

Configuration

The package comes with the default configuration for a Darwin-OP robot, but you can easily change it to your robot. The resources/devices.json contains the definition of the devices (sensors and actuators). You can set the used network configuration and the ROS topic names via ROS parameters (see launch/example.launch). Remember to rebuild the package after changing the json file.

Usage

Source your ROS 2 installation:

source /opt/ros/rolling/setup.bash  # Replace "rolling" with your distro

In your ROS 2 workspace, clone the repository:

git clone https://github.com/ros-sports/hlvs_player.git src/hlvs_player

Install dependencies:

rosdep install --from-paths src --ignore-src --default-yes

Build the package:

colcon build

Open a new terminal and source your overlay using:

source install/local_setup.bash

Set the simulator address:

# Replace host and port with appropriate values
export ROBOCUP_SIMULATOR_ADDR=127.0.0.1:10001

Run the node using one of these commands:

ros2 run hlvs_player hlvs_player
ros2 launch hlvs_player example.launch

Now you can access sensor data and publish commands to be performed on the robot.