ER-Force
Dear SSL community,
as in past years, we are happy to submit our entry for the Open Source
Award.
You will find a list of our publications below.
Framework + Simulator:
This is the main software we use to develop and test our AI. It is able to
– receive and process real life vision data
– simulate SSL games
– control robots
– create game recordings and play them back
…and much more.
New features since last years RoboCup include:
– A new dribbling filter
– Basic Git integration (i.e. show the Commit the binary is built from)
Git integration into our log format will be released soon after
RoboCup
– Various bug fixes and small features
The repository also contains our simulator, bundled as a standalone
executable for usage in this years RoboCup.
https://github.com/robotics-erlangen/framework
Autoref
This is our automatic referee, that detects the various rule
infringements teams can commit during a SSL game.
https://github.com/robotics-erlangen/autoref
In case you have questions about our software or are just curious, feel
welcome to write an email to info@robotics-erlangen.de
Best regards
Paul Bergmann
ER-Force
RoboTeam Twente
Dear SSL-Community,
For the first year since competing RoboTeam Twente is ready to enter for the Open Source Award. As all of our team members change (almost) in full every year we strive to have detailed and easy to understand documentation for everyone. This means that apart from all our designs we have collected all our recent how-to’s, design decisions and detailed explanations into a wiki. This wiki we also use to introduce new people to our team, so we hope it can be especially helpful for newer teams and those who are looking into tips for building enough robots to transition to division A.
Our wiki can be found here: https://wiki.roboteamtwente.nl/
Although the wiki also describes all previously made design in terms of hardware and software, some highlights of the changes we made this year include:
– Transitioning to a modular design with hardware and electronics combined for faster repair and more extensive testing. (rationale)- A fully renewed Front Assembly, which contains our dribbler and a new dampening mechanism. (design | rationale)
– Custom made space-saving solenoids for kicking and chipping which freed up quite some space in our robots. (design | rationale)
– Newly designed path planning based on bang-bang trajectories. (rationale)
We hope this can help other teams in their process of improving the SSL robots. If you have any questions we are more than happy to answer them, and if you find it useful we would love to hear that from you. We look forward to seeing you all at the RoboCup!
Kind regards,
Anne van Harten | RoboTeam Twente
RoboFEI
Dear SSL community,
Since the end of 2020, we have been releasing a good number of repositories as open source software. We are doing it for two main reasons.
Firstly, we believe on the give-a-penny-take-a-penny concept. Based on this principle, since we are daily using lots of open source software developed by the Small Size League Community, we should also share our software in a sign of gratitude, in a way of contributing to the community that have always supported us.
Secondly, we believe that sharing software is important for educational purposes, we have learned a lot from open source software (like how to rewrite and reuse a piece of software) and we hope that, releasing our software to the public, we can help others in that way too. Sharing software is equivalent to sharing knowledge, which is beneficial for everyone.
Below you will find our repositories.
Software (SSL-Strategy)
Link: <https://gitlab.com/robofei/ssl/SSL-Strategy>
Languages: C++ (almost 99% of the source code); Python; QMake
This is the software that we use during RoboCup matches. Its main purpose is to control one team during a Small Size League game. The GUI is highly customizable (with options like selecting number of defenders and offenders, the maximum speed of the robots, the maximum strength of a kick and so on). It has a nice graphical client for visualizing the field and some options, like the interaction with the simulator.
To improve the quality and usefulness of our open-source material we’ve started slowly changing our code base from portuguese to english. Although it demands a great effort to translate all the previous code, we believe that this should greatly improve the accessibility of our code base to the league.
Software (LogAnalyserRoboFEI-SSL)
Link: <https://gitlab.com/robofei/ssl/LogAnalyserRoboFei-SSL>
Languages: C++; QMake
This software is based on the Robocup Small Size League C++ Log Tools (https://github.com/RoboCup-SSL/ssl-logtools) and on the RoboFEI Small Size League Main Software (https://gitlab.com/robofei/ssl/SSL-Strategy).
It provides a simple log player combined with a graphical client can that read vision and referee messages (from the network or directly from the log player). Furthermore it provides more options for loading and playing a match log file; for example, it is possible to ignore the match states when the game is stopped or halted and consider the other states. The Kalman filter from our main software is also embedded with the application.
At last, the Enable Analysis option activates a feature that can check when a shoot move or pass move occurs and it in a 0 to 250 scale. At the end of the game, the software generates the information of all moves occurred on the match.
We are working on an implementation that provides a game statistics viewer tool that shows statistics of the game (like the ball possession, the amount of passes and pass precision, shoots to goal and so on), but it is still in development.
Software (JoystickRobotController):
Link: <https://gitlab.com/robofei/ssl/joystickrobotcontroller>
Languages:C++; QMake
The objective of this software is to easily test the RoboFEI robots – verifying if the robots wheels, kick sensor, dribbler, and other components are working properly. It makes it possible to control the robot, either with a joystick controller or with a computer keyboard.
Sincerely,
The RoboFEI team.
TIGERs Mannheim
Dear SSL-community,
as in the past years we are very happy to announce our entry for the
Open Source Award. By now there is a one-stop shop to get it all:
https://github.com/TIGERs-Mannheim
We are doing a complete and full release of everything we have,
including electronics, mechanics, and our full AI. Here is a brief
description of what has changed.
Mechanics:
The kicker and dribbler have been slightly updated to be more robust.
The dribbler now allows prolonged periods of dribbling with higher
torque. The release includes the full robot mechanics.
Firmware:
The build system has been changed to CMake and the folder structure has
been reorganized. The dribbler control algorithm now allows better
current and speed control. Test and model identification methods have
been cleaned up and improved. The release also includes our wireless
protocol and base station firmware.
Software (AI):
The heart and brain of our team, the central control software “Sumatra”.
Of course, compatible with the simulation protocol. So you can test your
AI against ours locally. Watch out for some serious dribbling moves
which will make you sweat 😉
In case you are missing any information or if you are just curios,
contact us on Discord or write us an email.
Tigertastic Greetings,
TIGERs Mannheim