add realism to simoulator cli run

RoboJackets · Oct 1, 2024 · fd695ec · fd695ec
1 parent c32d1f2
commit fd695ec
Showing 6 changed files with 4 additions and 31 deletions.
diff --git a/launch/framework.bash b/launch/framework.bash
@@ -10,7 +10,7 @@ if [ -z "$binary" ]; then
 fi
 
 # Run the binary in the background
-"$binary" &
+"$binary" -g 2020B --realism RC2021 &
 binary_pid=$!
 
 # Ensure that pressing Ctrl+C kills all subprocesses

diff --git a/soccer/src/soccer/control/motion_control.cpp b/soccer/src/soccer/control/motion_control.cpp
@@ -159,8 +159,6 @@ void MotionControl::run(const RobotState& state, const planning::Trajectory& tra
         drawer_.publish();
     }
 
-    set_velocity(setpoint, rj_geometry::Twist{rj_geometry::Point{}, 1.4});
-
     if (maybe_target) {
         RobotState desired_state;
         desired_state.pose = maybe_target->pose;

diff --git a/soccer/src/soccer/radio/packet_convert.cpp b/soccer/src/soccer/radio/packet_convert.cpp
@@ -131,7 +131,6 @@ void status_to_ros(const RobotStatus& status, rj_msgs::msg::RobotStatus* msg) {
     msg->battery_voltage = status.battery_voltage;
     msg->motor_errors = status.motors_healthy;
     msg->has_ball_sense = status.has_ball;
-    if (msg->robot_id == 1) SPDLOG_INFO("ID: {} HAS BALL: {}", msg->robot_id, msg->has_ball_sense);
     msg->kicker_charged = status.kicker == RobotStatus::KickerState::kCharged;
     msg->kicker_healthy = status.kicker != RobotStatus::KickerState::kFailed;
     msg->fpga_error = !status.fpga_healthy;
@@ -314,23 +313,12 @@ void ros_to_sim(const rj_msgs::msg::ManipulatorSetpoint& manipulator,
         }
     }
 
-    sim->set_kick_speed(0);
-
     auto* command = sim->mutable_move_command()->mutable_local_velocity();
     command->set_forward(static_cast<float>(motion.velocity_y_mps));
     command->set_left(-static_cast<float>(motion.velocity_x_mps));
     command->set_angular(static_cast<float>(motion.velocity_z_radps));
 
-    sim->set_dribbler_speed(2000);
-    // if (sim->id() == 1) i = -i;
-
-    // SPDLOG_INFO("ID: {}", sim->id());
-    // SPDLOG_INFO("forward: {}", sim->move_command().local_velocity().forward());
-    // SPDLOG_INFO("left: {}", sim->move_command().local_velocity().left());
-    // SPDLOG_INFO("angular: {}", sim->move_command().local_velocity().angular());
-    // SPDLOG_INFO("Kick Speed: {}", sim->kick_speed());
-    // SPDLOG_INFO("Kick Angle: {}", sim->kick_angle());
-    if (sim->id() == 1) SPDLOG_INFO("Dribbler Speed: {}", sim->dribbler_speed());
+    sim->set_dribbler_speed(static_cast<float>(PARAM_max_dribbler_speed * manipulator.dribbler_speed));
 }
 
 }  // namespace ConvertTx
diff --git a/soccer/src/soccer/radio/packet_convert.hpp b/soccer/src/soccer/radio/packet_convert.hpp
@@ -65,5 +65,5 @@ void to_sim(const RobotIntent& intent, const MotionSetpoint& setpoint,
 void ros_to_sim(const rj_msgs::msg::ManipulatorSetpoint& manipulator,
                 const rj_msgs::msg::MotionSetpoint& motion, int shell,
                 RobotCommand* sim);
-static int i = 1;
+
 }  // namespace ConvertTx
diff --git a/soccer/src/soccer/radio/radio.cpp b/soccer/src/soccer/radio/radio.cpp
@@ -74,7 +74,7 @@ void Radio::tick() {
                                          .shoot_mode(ManipulatorSetpoint::SHOOT_MODE_KICK)
                                          .trigger_mode(ManipulatorSetpoint::TRIGGER_MODE_STAND_DOWN)
                                          .kick_speed(0)
-                                         .dribbler_speed(2000);
+                                         .dribbler_speed(0);
             last_updates_.at(i) = RJ::now();
             send_control_message(i, motion, manipulator, positions_.at(i));
         }

diff --git a/soccer/src/soccer/radio/sim_radio.cpp b/soccer/src/soccer/radio/sim_radio.cpp
@@ -138,19 +138,6 @@ void SimRadio::send_control_message(uint8_t robot_id, const rj_msgs::msg::Motion
     std::string out;
     sim_packet.SerializeToString(&out);
 
-    if (robot_id == -1) {
-
-        SPDLOG_INFO("size: {}", out.size());
-
-        std::string print = "";
-
-        for (auto &c : out) {
-            print += std::to_string(static_cast<int>(c)) + " ";
-        }
-
-        SPDLOG_INFO("msg: {}", print);
-    }
-
     // print kick speed
     // TODO(Alex): replace with UI indicator
     /* if (sim_robot->kick_speed() > 0) { */