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Sim Alive Robots Publish #2215

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Sim Alive Robots Publish #2215

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91d3768
Add topic name constant for strategy/alive_robots
oddlyspookycherry Mar 6, 2024
421029b
Publish robots 0-6 as alive in sim_radio
oddlyspookycherry Mar 6, 2024
d3e49bc
Use global topic name declaration in agent_action_client
oddlyspookycherry Mar 6, 2024
1b2b0ed
Change topic name in radio to use the global costant declaration (str…
oddlyspookycherry Mar 6, 2024
170fbb3
Fix style formatting
oddlyspookycherry Mar 6, 2024
1c834bb
Minor semantic update to sim_radio
oddlyspookycherry Mar 6, 2024
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1 change: 1 addition & 0 deletions rj_constants/include/rj_constants/topic_names.hpp
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Expand Up @@ -69,6 +69,7 @@ static inline std::string trajectory_topic(int robot_id) {
} // namespace planning::topics

namespace strategy::topics {
constexpr auto kAliveRobots("strategy/alive_robots");
} // namespace strategy::topics

namespace control {
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2 changes: 1 addition & 1 deletion soccer/src/soccer/radio/radio.cpp
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Expand Up @@ -39,7 +39,7 @@ Radio::Radio()
}

alive_robots_pub_ =
create_publisher<rj_msgs::msg::AliveRobots>("/alive_robots", rclcpp::QoS(1));
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For some reason base Radio class (used by network_radio) and sim_radio used different topic names for alive robots. I went with the one used by sim.

create_publisher<rj_msgs::msg::AliveRobots>(strategy::topics::kAliveRobots, rclcpp::QoS(1));

tick_timer_ = create_wall_timer(tick_period_, [this]() { tick(); });
}
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12 changes: 7 additions & 5 deletions soccer/src/soccer/radio/sim_radio.cpp
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Expand Up @@ -94,17 +94,19 @@ SimRadio::SimRadio(bool blue_team)
ip::udp::endpoint(address_, blue_team_ ? kSimBlueCommandPort : kSimYellowCommandPort);
sim_control_endpoint_ = ip::udp::endpoint(address_, kSimCommandPort);

// assume robots 0-6 are always alive in sim
for (uint8_t robot_id = 0; robot_id <= 6; robot_id++) {
alive_robots_[robot_id] = true;
}
alive_robots_pub_ = this->create_publisher<rj_msgs::msg::AliveRobots>(
strategy::topics::kAliveRobots, rclcpp::QoS(1));

alive_robots_timer_ = create_wall_timer(std::chrono::milliseconds(500), [this]() {
rj_msgs::msg::AliveRobots alive_message{};
alive_message.alive_robots = alive_robots_;
publish_alive_robots(alive_message);
});

for (uint8_t robot_id = 0; robot_id < kNumShells; robot_id++) {
alive_robots_[robot_id] = true;
}
alive_robots_pub_ =
this->create_publisher<rj_msgs::msg::AliveRobots>("strategy/alive_robots", rclcpp::QoS(1));

buffer_.resize(1024);
start_receive();
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2 changes: 1 addition & 1 deletion soccer/src/soccer/strategy/agent/agent_action_client.cpp
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Expand Up @@ -34,7 +34,7 @@ AgentActionClient::AgentActionClient(int r_id)
[this](rj_msgs::msg::FieldDimensions::SharedPtr msg) { field_dimensions_callback(msg); });

alive_robots_sub_ = create_subscription<rj_msgs::msg::AliveRobots>(
"strategy/alive_robots", 1,
::strategy::topics::kAliveRobots, 1,
[this](rj_msgs::msg::AliveRobots::SharedPtr msg) { alive_robots_callback(msg); });

game_settings_sub_ = create_subscription<rj_msgs::msg::GameSettings>(
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