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bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.
https://bit-bots.de
MIT License
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Switch type of obstacles/robots in TeamData.msg #242

Open texhnolyze opened 1 year ago

texhnolyze commented 1 year ago

Current behavior

So far the team communication, which publishes the TeamData msgs upon receiving information from other robots, for further handling in other nodes is utilizing humanoid_league_msgs/msg/ObstacleRelativeArray.

However the actual information that is published by ipm and vision are soccer_vision_3d_msgs/msg/ObstacleArray and soccer_vision_3d_msgs/msg/RobotArray. These are then converted into the protobuf message before being received by the other robots.

Since https://github.com/bit-bots/humanoid_league_misc/pull/127, we are actually using the soccer_vision_3d_msgs/msg/RobotArray message from the vision directly. As described in https://github.com/bit-bots/humanoid_league_misc/issues/125, in this way there is a conversion from one message type to another, which we do not do anywhere else.

The question is now, if this is wanted and if we should just be using the soccer_vision_3d_msgs in the TeamData message.

Possible Solution

The TeamData message needs to be adjusted to use either soccer_vision_3d_msgs/msg/ObstacleArray or soccer_vision_3d_msgs/msg/RobotArray.

Flova commented 1 year ago

One possible solution would also be the adoption of the Team data message to the ros sports soccer interfaces. We could rework the message to support the soccer_vision_3d_msgs/msg/RobotArray and have a more general message representation.