Robot Setup Home
Setup for motion capture
During the benchmarks, the pose of the robot will be captured by a motion capture system. To enable this, it is mandatory for each participating robot to be fitted with a "Marker Set" (provided by RoCKIn). The instruction to do that are provided by the Marker Set page of this wiki.
With the goal of simplifying the implementation of the required communication with the Referee Box (RefBox), we have designed a diagram for each FBM/TBM, representing each specific case. These diagrams were created along the already existing guide, available at https://github.com/joaocgreis/roah_rsbb_comm_ros, which is the most complete source for the RefBox. They are intended to be a visual support for following the guide, and should not be viewed as its replacement. There are eight diagrams, one for each FBM and TBM, and two additional ones that represent the communication segments that are present in (almost) all of the tasks. Due to this fact, these last two are color coded (as green and red) and are used in the other diagrams to condense the diagrams. In every diagram, the suspension dots mean the part of the task that does not require communication with the RefBox. The table below gives a brief description of the communication processes represented in each diagram. By “intermediate communication”, we mean additional communication with the RefBox besides the “standard” start - perform task - end procedure.
Please click the images to view them in detail.
|START||Required communication before any task is started.|
|END||Required communication to end a task.|
|FBM1||No intermediate communication, but different ending procedure. The contents of the message used for the service should be consulted in the aforementioned guide. For each object to be evaluated, the robot should answer with the end command and wait for another start procedure from the RefBox side.|
|FBM2||If a timeout occurs it is seen from the teams side has a change in the topic /roah_rsbb/benchmark/state to BenchmarkState.PREPARE. The robot must physically and fully stop during the STOP_ROBOT phase. Teams must comply with this rule or they will be disqualified as explained in FBM2 section of this wiki.|
|FBM3||No RefBox communication required at all (not even the start and end procedures).|
|TBM1||No intermediate communication.|
|TBM2||Additional communication regarding the ringing of the doorbell. As per the rulebook, before the task is over, the doorbell will ring 4 times. As such the robot should only send the end command after completing the whole task and only once.|
|TBM3||Additional communication regarding the use of the tablet and the operation of the devices. There are many different services to operate on the devices. The aforementioned guide should be consulted to fully comprehend the communication with the devices.|
Home Automation Controller Networked Device
Main content moved to rulebook Section 2.4 ("Networked Devices in the Environment")
The following networked devices will be located in the RoCKIn@Home environment:
- 2x light switches (on/off) in the bedroom
- 1x motorized blind in the living room
- 1x light dimmer in the living room
- 1x door bell at the main entrance
The network will be 10.0.0.0/16 (netmask 255.255.0.0).
Common IP addresses:
- RSBB: 10.0.0.1
- Ethernet camera: 10.0.0.2.
Each team receives an own subnet (256 available IPs) to be used with static IPs: