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Welcome to the RoboCup Logistics League.

This repository bundles the documentation and setup details around the software used in the RCLL.

General information

Most of the software used in the RCLL can be found in the github organization. The docker images for the RCLL get published to the quay.

Rules for RCLL

The rulebook for the RCLL can be found here.

Libraries for RCLL

There are various libraries to make communication with the refbox easy, at the moment there is one for Java and one for C++. Here you can find an example that is using the C++ lib. For Communication with the refbox there is a mqtt bridge available which can be found here.

Installation of this Repo

Prerequisites

To use this repository you have to have docker, docker-compose, screen and bash installed. To make the commands available you have to source setup.sh, you can do this in our local ~/.bashrc

Configuration

All the commands that are listened below can be configured via various env variables. To overwrite the defaults which are set in the setup.sh script, manually overwrite them in the file local_setup.sh. This file is ignored in git and will be created automatically once you source the setup.sh for the first time.

If you want to play a c0 productino challenge, one must add export REFBOX_CONFIG_CHALLENGE=./../config/refbox/challenge_prod_c0.yaml into his local_setup.sh.

Main Commands:

The main commands are

• rc_start
• rc_stop
• rc_pull

rc_start

start the refbox and the vue frontend. the ui can then be accessed via: http://localhost:8080/

Main environment variables for configuration:

• REFBOX_IMAGE image to use for refbox
• REFBOX_TAG tag to use for refbox
• REFBOX_FRONTEND_IMAGE image to use for refbox frontend
• REFBOX_FRONTEND_TAG tag to use for refbox frontend
• REFBOX_CONFIG_GAME game config to use in the refbox.
• REFBOX_CONFIG_SIMULATION simulation config to use in the refbox.
• REFBOX_CONFIG_COMM communication config to use in the refbox.
• REFBOX_CONFIG_MPS mps config to use in the refbox.
• REFBOX_CONFIG_TEAM team config to use in the refbox.
• REFBOX_CONFIG_CHALLENGE challenges config to use in the refbox.
• REFBOX_CONFIG_MONGODB mongodb config to use in the refbox.

In the directory config/refbox are some configurations which are used by default. You can find more here in the rcll-refbox repository.

The startup utilizes docker-compose to spin up services and then sets up a screen session where the logs can be followed. The screen session is named ${RC_SCREEN_NAME}, which defaults to rcll. The existing tabs in that session are always closed before re-launching.

rc_stop

This stops all services.

rc_pull

This pulls the newest version of all docker images.

Other Commands

The RCLL offers also some additional tools. For each, there are 3 commands:

• rc_start_ - which launches the tool
• rc_stop_ - which stops the tool
• rc_pull_ - which updates the docker containers for that tool

There are also options for each tool to be launched in the main commands above.

refbox

Used to just start the refbox and it's frontend without any other tools. See the rc_start section for configuration options.

Note that the startup also checks for the existance of a MongoDB un RC_MONGODB_URI.

mongodb

The refbox requires a running MongoDB instance (any version compatible with the mongocxx-driver of the refbox). Per default, a new MongoDB 5.0 is started on startup. But it is also possible to use an existing instance. Note that the refbox needs to be configured separately to also use the instance.

Env variables for configuration:

• RC_MONGODB_START set to true if a mongodb instance should start with the main command, defaults to true
• RC_MONGODB_HOST hostname or ip address where the instance should run on, defaults to localhost
• RC_MONGODB_PORT port where the intance should run on, defaults to 27017
• RC_MONGODB_URI Final URI, defaults to mongodb://${RC_MONGODB_HOST}:${RC_MONGODB_PORT}

mongodb_backend

The refbox logs games into a database, the frontend of the refbox can display that data. In order to do so, a small backend is required that bridges between the database and the frontend.

Env variables for configuration:

• RC_MONGODB_BACKEND_START set to true if the mongodb backend should be started with the main command, defaults to false
• RC_MONGODB_BACKEND_DB_NAME name of the database to use, defaults to rcll, which is the default name of the database the refbox uses.

Note that the backend also utilizes the RC_MONGODB_URI variable from the mongodb component.

mqtt_bridge

Note: The image is only available via ghcr.io, so you have to login in order to be able to pull it!

Env variables for configuration:

• RC_MQTT_START set to true if mqtt bridge should start with the main command
• RC_MQTT_BROKER broker to connect to
• RC_MQTT_REFBOX ip of the refbox
• RC_MQTT_TEAM team name
• RC_MQTT_KEY crypto key for refbox communication

simulator

start the rcll-simulator and the frontend for it. The ui can then be accessed via http://localhost:4200/``.

Env variables for configuration:

• SIMULATOR_IMAGE image to use for simulator
• SIMULATOR_TAG tag to use for simulator
• SIMULATOR_FRONTEND_IMAGE image to use for simulator frontend
• SIMULATOR_FRONTEND_TAG tag to use for simulator frontend
• SIMULATOR_CONFIG_FILE the config file used for the simulator.

Documentation For RCLL

Generally it is good to take a look at the refbox wiki, which contains a lot of information.

Communication

Each Team has to communicate with the refbox. This is done via the rcll-protobuf-msgs. You can find a detailed documentation on them here. In the refbox repository is a wiki entry giving a good overview of the communication, see this link