![]() The value at 0 index is in front of us, at 90 is to the right, at 180 is to the back, at 270 is to the left. In the Soccer Simulation worlds the Lidar will give you back an array with 360 values.This can be resource intensive, so for production use, you may want to disable it if the point cloud data is not used by your program. For this to work, you have to enable it from the Python source code with calling (). You surely want to enable Lidar endpoint visualization by View | Optional Rendering | Show Lidar Point Cloud menu.Here is a modified version of the master branch, where robots are using Lidar for collision avoidance:įor using the Lidars here are a few tips: ![]() Before using any sample in a competition, please have your own experiments in your own environment.ĭid you know you can add a Lidar to your soccer robot? PS.: Running the simulation with six robots using the sensors on a slow machine may have negative impact on the simulation performance. Technical Challenge #2 in RoboCup Junior 2021 Soccer Simulation: if you are interested in trying out these sensors in the challenge, you might want to consider to use the following modified C2 branch: All the original source files are also included as *_orig.*, so you can compare them for the changes. Any code descended from the RCJSoccerRobot class should still work, so this change should not have any impact on your robot’s abilities. ![]() You can benefit about 3-4 world time step (1-2 robot time step), so you will have your exact position sooner compared to relying on the position data got from the referee. (try to copy/paste it to a new tab if it’s not working)Īll the robots are now enhanced with a GPS and a Compass sensor, and the robot’s own position ( data) is now calculated from these sensors. This topic was created to collect ideas / suggestions / questions about using sensors in Soccer Simulation.ĭid you know you can add sensors to the soccer robot? Always wanted to shorten the latency the robot is suffering from while receiving the position data from the referee? What about adding GPS and Compass sensors to the robots? To achieve this, only the world file ( worlds/soccer.wbt) and the ( controllers//rcj_soccer_robot.py) need to be changed.Īs a starting point please find linked a modified version of the master branch:
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |