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spiralrayspiralray
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imprement referee_wrapper
1 parent dc21b99 commit f9a52d0

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‎consai2r2_msgs/CMakeLists.txt‎

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@@ -31,6 +31,8 @@ set(msg_files
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"msg/VisionDetections.msg"
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"msg/RobotInfo.msg"
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"msg/BallInfo.msg"
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"msg/DecodedReferee.msg"
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"msg/ReplaceBall.msg"
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"msg/RobotCommand.msg"
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"msg/RobotCommands.msg"
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)

‎consai2r2_msgs/msg/DecodedReferee.msg‎

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# game status for consai2_game
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# ID : text
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# 0 : HALT
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# 1 : STOP
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# 2 : ---
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# 3 : FORCE_START
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# 11 : OUR_KICKOFF_PREPARATION
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# 12 : OUR_KICKOFF_START
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# 13 : OUR_PENALTY_PREPARATION
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# 14 : OUR_PENALTY_START
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# 15 : OUR_DIRECT_FREE
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# 16 : OUR_INDIRECT_FREE
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# 17 : OUR_TIMEOUT
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# 18 : OUR_GOAL
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# 19 : OUR_BALL_PLACEMENT
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# 20 : ---
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# 21 : THEIR_KICKOFF_PREPARATION
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# 22 : THEIR_KICKOFF_START
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# 23 : THEIR_PENALTY_PREPARATION
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# 24 : THEIR_PENALTY_START
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# 25 : THEIR_DIRECT_FREE
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# 26 : THEIR_INDIRECT_FREE
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# 27 : THEIR_TIMEOUT
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# 28 : THEIR_GOAL
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# 29 : THEIR_BALL_PLACEMENT
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uint8 referee_id
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string referee_text
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bool can_move_robot
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float64 speed_limit_of_robot # meter/sec
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bool can_kick_ball
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bool can_enter_their_side
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bool can_enter_center_circle
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bool is_inplay
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float64 keep_out_radius_from_ball # meter
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float64 keep_out_distance_from_their_defense_area # meter
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geometry_msgs/Point placement_position

‎consai2r2_msgs/msg/ReplaceBall.msg‎

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# This msg file is copied from 'grSim_Replacement.proto'
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#
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float64 x
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float64 y
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float64 vx
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float64 vy
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bool is_enabled

‎consai2r2_referee_wrapper/consai2r2_referee_wrapper/__init__.py‎

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‎consai2r2_referee_wrapper/consai2r2_referee_wrapper/referee_wrapper.py‎

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‎consai2r2_referee_wrapper/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>consai2r2_referee_wrapper</name>
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<version>0.0.0</version>
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<description>Referee Wrapper</description>
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<maintainer email="macakasit@gmail.com">akshota</maintainer>
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<license>MIT</license>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>consai2r2_msgs</exec_depend>
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<exec_depend>consai2r2_receiver</exec_depend>
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<exec_depend>consai2r2_description</exec_depend>
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<!-- These test dependencies are optional
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Their purpose is to make sure that the code passes the linters -->
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>

‎consai2r2_referee_wrapper/resource/consai2r2_referee_wrapper‎

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‎consai2r2_referee_wrapper/setup.cfg‎

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[develop]
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script-dir=$base/lib/consai2r2_referee_wrapper
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[install]
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install-scripts=$base/lib/consai2r2_referee_wrapper

‎consai2r2_referee_wrapper/setup.py‎

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from setuptools import setup
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package_name = 'consai2r2_referee_wrapper'
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setup(
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name=package_name,
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version='0.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='akshota',
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author_email='macakasit@gmail.com',
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maintainer='akshota',
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maintainer_email='macakasit@gmail.com',
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keywords=['ROS'],
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classifiers=[
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'Intended Audience :: Developers',
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'License :: OSI Approved :: MIT License',
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'Programming Language :: Python',
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'Topic :: Software Development',
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],
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description='Translate raw referee message to AI-friendly message',
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license='MIT License',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'referee_wrapper = consai2r2_referee_wrapper.referee_wrapper:main',
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],
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},
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)

‎consai2r2_referee_wrapper/test/test_copyright.py‎

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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_copyright.main import main
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import pytest
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@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.'])
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assert rc == 0, 'Found errors'

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