Design Document

This page will contain all design decisions that went into the creation of our robot soccer system

Project structure

The project is composed by several ROS nodes, each one executing one specific task. The nodes communicate to each other by publishing ROS topics and subscribing to them.

If a node is performing several tasks, the developers are allowed to break it into two or more pieces as long as it does not require to restructure other nodes.

• camera: Connects to the camera drivers and publishes an image of the current view of the game.
• dummy_camera: Sends images for testing purposes.
• vision: Processes images and extract information about the current state of the game.
• strategy: Generates actions based on the state of the game.
• control: Sends commands to the robots using the communication drivers.