Imprement referee wrapper

consai2r2_msgs/CMakeLists.txt

@@ -29,6 +29,10 @@ set(msg_files
   "msg/DetectionRobot.msg"
   "msg/DetectionFrame.msg"
   "msg/VisionDetections.msg"
+  "msg/RobotInfo.msg"
+  "msg/BallInfo.msg"
+  "msg/DecodedReferee.msg"
+  "msg/ReplaceBall.msg"
   "msg/RobotCommand.msg"
   "msg/RobotCommands.msg"
 )

consai2r2_msgs/msg/BallInfo.msg

@@ -0,0 +1,10 @@
+# ball information for consai2_game
+
+geometry_msgs/Pose2D pose
+geometry_msgs/Pose2D velocity
+geometry_msgs/Twist  velocity_twist
+bool                 detected
+builtin_interfaces/Time detection_stamp
+
+geometry_msgs/Pose2D last_detection_pose
+bool                 disappeared

consai2r2_msgs/msg/DecodedReferee.msg

@@ -0,0 +1,39 @@
+# game status for consai2_game
+
+# Declare of the constants of referee_id
+uint8 ID_HALT = 0
+uint8 ID_STOP = 1
+uint8 ID_FORCE_START = 3
+uint8 ID_OUR_KICKOFF_PREPARATION = 11
+uint8 ID_OUR_KICKOFF_START = 12
+uint8 ID_OUR_PENALTY_PREPARATION = 13
+uint8 ID_OUR_PENALTY_START = 14
+uint8 ID_OUR_DIRECT_FREE = 15
+uint8 ID_OUR_INDIRECT_FREE = 16
+uint8 ID_OUR_TIMEOUT = 17
+uint8 ID_OUR_GOAL = 18
+uint8 ID_OUR_BALL_PLACEMENT = 19
+uint8 ID_THEIR_KICKOFF_PREPARATION = 21
+uint8 ID_THEIR_KICKOFF_START = 22
+uint8 ID_THEIR_PENALTY_PREPARATION = 23
+uint8 ID_THEIR_PENALTY_START = 24
+uint8 ID_THEIR_DIRECT_FREE = 25
+uint8 ID_THEIR_INDIRECT_FREE = 26
+uint8 ID_THEIR_TIMEOUT = 27
+uint8 ID_THEIR_GOAL = 28
+uint8 ID_THEIR_BALL_PLACEMENT = 29
+
+
+uint8   referee_id
+string  referee_text
+
+bool    can_move_robot
+float64 speed_limit_of_robot # meter/sec
+bool    can_kick_ball
+bool    can_enter_their_side
+bool    can_enter_center_circle
+bool    is_inplay
+float64 keep_out_radius_from_ball # meter
+float64 keep_out_distance_from_their_defense_area # meter
+
+geometry_msgs/Point placement_position

consai2r2_msgs/msg/ReplaceBall.msg

@@ -0,0 +1,8 @@
+# This msg file is copied from 'grSim_Replacement.proto'
+#
+float64 x
+float64 y
+float64 vx
+float64 vy
+
+bool    is_enabled

consai2r2_msgs/msg/RobotInfo.msg

@@ -0,0 +1,29 @@
+# robot information for consai2_game
+
+# robot id
+uint8                robot_id
+
+# Robot 2D pose
+# This field will be replaced to geometry_msgs/Pose 
+geometry_msgs/Pose2D pose
+
+# Robot Velocity
+# [Deprecated] This field will be removed. 
+geometry_msgs/Pose2D velocity
+
+# Robot Velocity
+geometry_msgs/Twist  velocity_twist
+
+# If robot is detected by vision in this frame, this field is set to true
+bool                 detected
+
+# Latest vision detection time
+# [Deprecated] This field will be removed. 
+builtin_interfaces/Time detection_stamp
+
+#  Latest detected pose.
+# This field is NOT filtered. This is a raw vision value.
+geometry_msgs/Pose2D last_detection_pose
+
+# If a robot disappear from field,  this field is set to true
+bool                 disappeared