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rm_simulator

A refer simulating system in AI challenge

1.How to run

After catkin_make, open a terminal and run:

rosrun rm_simulator simulate_refer_system

2.msg

cellState #state for each cell (totally 6 cells)

  • uint8[7] state

occupied, cantMove, cantShoot, redHealth, blueHealth, redBullet, blueBullet

E.g. 0,0,0,1,0,0,0 means that the cell is unoccupied and adding redHealth.

referSystemInfo

  • uint64[4] robotHealth

In the beginning, each robot has 2000 HP.

  • uint64[4] remain_bullet

In the beginning, only robot 0 and 2 have 50 bullets each.

  • uint8[4] robotShoot

0: disable or 1: enable -> shoot. In the beginning, [1,1,1,1]

  • float64[4] robotShootDebuffTime

Record the cannot shoot debuff active time

  • uint8[4] robotMove

0: disable or 1: enable -> move. In the beginning, [1,1,1,1]

  • float64[4] robotMoveDebuffTime

Record the cannot move debuff active time

  • CellStatus[6] cellState

cellState #state for each cell (totally 6 cells)

  • uint64[6] cellStateNumber

Convey binary number to decimal number.

E.g.

cellState:

  • state: [1, 0, 0, 0, 0, 1, 0]
  • state: [0, 0, 0, 1, 0, 0, 0]
  • state: [0, 0, 1, 0, 0, 0, 0]
  • state: [0, 0, 0, 0, 0, 0, 1]
  • state: [0, 0, 0, 0, 1, 0, 0]
  • state: [0, 1, 0, 0, 0, 0, 0]

Then we can have cellStateNumber: [66, 8, 16, 1, 4, 32]

  • float64[6] cellX #fixed, the x position of the buff cells

cellX: [0.5, 1.9, 4.1, 7.6, 6.2, 4.0]

  • float64[6] cellY #fixed, the y position of the buff cells

cellY: [3.36, 1.935, 4.59, 1.74, 3.165, 0.51]

  • RobotPose[4] robotPose # four robot pose

E.g.

robotPose:

x: 0.647561371326
y: 3.38313245773
yaw: 0.040313269943

x: 0.532608807087
y: 4.69925546646
yaw: 0.0332103334367

x: 7.73535680771
y: 4.55239772797
yaw: 3.14024424553

x: 7.72630119324
y: 0.563540756702
yaw: 3.13108444214
  • float64 gameTime

Start from 0.0

3.Rules

Each game has 3 mins. The buff cells refresh the state at 0, 60 and 120 secs.

The debuff and buff cells refresh symmetrically.