bitbots_behavior

This is the behavior code of the RoboCup Humanoid League team Hamburg Bit-Bots. It is divided into a behavior for the head and the body. Both are programmed using the dynamic_stack_decider package (https://github.com/bit-bots/dynamic_stack_decider).

TODO:

• Ask about the inverse kinematics of the head motors --> whether to do the computation inside the head node
• main.dsd does not contain KickBallStatic i.e. the robot does not kick ball --> need to talk about the low level motion implementation for msg passing
• Need to wait after the action has finished --> whether to do this part in behavior node or motion control node
• Retrieve the lua code for the FSM to add node of the the current tree
• Complete the code of nodes which only execute simple logic

Package Usage

1. bitbots_body_behavior
2. bitbots_head_behavior
3. bitbots_blackboard
4. bitbots_stack_decider
5. bitbots_msgs
6. humanoid_league_msgs
7. bio_ik_msgs
8. bio_ik_service(in our case it may not be needed)

Node

Body

• Package: bitbots_body_behavior
• Name: body_behavior
• Type: body_behavior.py

Publisher

• strategy_sender
  • topic: "strategy"
  • type: Strategy
• head_pub
  • topic: "head_mode"
  • type: HeadMode
• pathfinding_pub
  • topic:"move_base_simple/goal"
  • type: PoseStamped

Subscriber

• About ball
  • topic: "ball_relative"
  • type: BallRelative
  • callback: blackboard.world_model.ball_callback
• About goal
  • topic: "goal_relative"
  • type: GoalRelative
  • callback: blackboard.world_model.goal_callback
• About game state
  • topic: "gamestate"
  • type: GameState
  • callback: blackboard.gamestate.gamestate_callback
• About team data
  • topic: "team_data"
  • type: TeamData
  • callback: blackboard.team_data.team_data_callback
• About pose
  • topic: "amcl_pose"
  • type: PoseWithCovarianceStamped
  • callback: blackboard.world_model.position_callback
• About robot state
  • topic: "robot_state"
  • type: RobotControlState
  • callback: blackboard.blackboard.robot_state_callback

Head

• Package: bitbots_head_behavior
• Name: head_behavior
• Type: head_node.py

Publisher

• position_publisher
  • topic: "/head_motor_goals"
  • type: JointCommand
• visual_compass_record_trigger
  • topic: "/visual_compass_ground_truth_trigger"
  • type: Header

Subscriber

• About headmode
  • topic: "/head_mode"
  • type: HeadModeMsg
  • callback: blackboard.head_capsule.head_mode_callback
• About ball
  • topic: "/ball_relative"
  • type: BallRelative
  • callback: blackboard.world_model.ball_callback
• About head joints
  • topic: "/joint_states"
  • type: JointState
  • callback: blackboard.head_capsule.joint_state_callback