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consai_description package from consai_ros2 repo

consai consai_description consai_examples consai_game consai_msgs consai_referee_parser consai_robot_control_utils consai_robot_controller consai_tools consai_vision_tracker consai_visualizer consai_visualizer_msgs robocup_ssl_comm robocup_ssl_msgs

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Package Summary

Tags	No category tags.
Version	0.1.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	ROS 2 packages for RoboCup SSL beginner. / RoboCup SSL初心者のための ROS 2パッケージ
Checkout URI	https://github.com/ssl-roots/consai_ros2.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-02
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

This package defines some parameters for the CON-SAI system.

Additional Links

No additional links.

Maintainers

shotaak

Authors

No additional authors.

consai_description/README.md

consai_description

consaiで使用するパラメータを定義したパッケージです。

パッケージ間で共通のパラメータを扱うために、parameter_publisherノードを提供します。

Usage

parameter_publisher.launch.pyを起動します。

ros2 launch consai_description parameter_publisher.launch.py

起動すると、configディレクトリのパラメータがparameter_publisherノードにセットされます。

$ ros2 param list
/parameter_publisher:
  rule.ball.diameter
  rule.field.goal_width
  rule.field.length
  rule.field.penalty_depth
  rule.field.penalty_width
  rule.field.width
  rule.keep_outs.distance_to_ball_at_stop
  rule.robots.max_diameter
  rule.robots.max_height
  rule.robots.max_num_in_field
  rule.robots.num_of_ids
  strategy.div_a_field.ball_diameter
  strategy.div_a_field.length
  strategy.div_a_field.robot_diameter
  strategy.div_a_field.width
  use_sim_time

また、パラメータはJSON形式で/consai_param/**としてパブリッシュされます。

$ ros2 topic list
/consai_param/rule
/consai_param/strategy

$ ros2 topic echo --once /consai_param/rule
data: '{"field": {"length": 12.0, "width": 9.0, "goal_width": 1.8, "penalty_depth": 1.8, "penalty_width": 3.6}, "ball": {"diameter": 0....'
---

このトピックをデコードすることで、パラメータを取得できます。

parameter_publisherノードのパラメータを変更すると、トピックの内容も書き換わります。

Config files

rule/division_a.yaml: Division Aのルールを定義します
strategy/normal.yaml: consaiの通常戦略パラメータを定義します

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	ament_uncrustify
	ament_cpplint
	rclpy
	std_msgs

System Dependencies

Name
python3-yaml

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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