RCLL Flavor

Further, for the domain of the RoboCup Logistics League, we provide a convenient launch for the mps-map-gen tool for augmenting a map of the playing field by dynamic game information (obstacles for static machines, transforms for useful POIs). Note, this is best combined with a modified host_params_file params file that changes the map topics of all components accordingly.

ros2 launch robotino_navigation robotino_bringup.launch.py namespace:=robotinobase1 launch_mps_map_gen:=true host_params_file:=robotinobase1_mps_map_gen.yaml
.launch.py namespace:=robotinobase1 use_sim_time:=false launch_nav2rviz:=true map:=map.yaml

• launch_mps_map_gen: whether to launch mps-map-gen
• team_name: the mps_map_gen tool listens to the RCLL game controller and needs to listen to the team-specific peer identified to the configured team name.