Rocket League

This repo contains all the files necessary for the Rocket League project. This project aims to recreate the video game of the same name via a team of autonomously controlled RC cars competing against human controlled ones.

The repo is broken down into several ROS packages.

rktl_autonomy

This package contains all code for the "High Level Planner" section. It provides an interface between ROS and OpenAI Gym, and is therefore capable of running a deep reinforcement learning agent capable of controlling the car.

For further information see its specific README.md file.

rktl_planner

This package contains the "Mid Level Software" group. It provides an alternative method to the rktl_autonomy stack to control the car.

For further information see its specific README.md file.

rktl_control

This package performs several jobs that allow it to move physical cars according to commands from either the planning or autonomy code.

Specifically it has three main components:

• It filters the raw perception data using either a moving average filter or a particle filter, while also producing estimated odometry (which includes velocity in addition to the position given by the raw perception data)
• It has a closed loop controller which reduces the error between the desired and estimated motion of the car by producing control signals.
• It has a hardware interface, which sends those control signals to the physical cars.

It also contains several MATLAB scripts that are useful in tuning and validating the Python code used for this project.

For further information see its specific README.md file.

rktl_perception

This package contains the "Perception" code. This interfaces with cameras, processes the data, and outputs position estimates for all physical elements on the field.

For further information see its specific README.md file.

rktl_sim

This contains a simulator, which is used to train the autonomy code.

For further information see its specific README.md file.

rktl_msgs

This contains custom ROS messages for the project.

rktl_launch

This contains several convenience launch files for running several packages at once.

Additional Folders / Files

docker

This contains scripts for building and running the Docker environment used for the project. For more information, see the below Building and Running the Project section.

.github

This contains GitHub actions used for continuous integration. Primarily, it automates:

• building the development Docker container
• running automated tests on PRs and pushes to main

start.py

This contains a Python script used to launch the production system on the computer cart. It launches Docker containers on multiple computers (defined in hosts.yaml), and launches the necessary ROS nodes inside of them.

Building and Running the Project

Pre-Requisites

This project is built on ROS (Robot Operating System) You should be familiar with using ROS on Linux inside Docker through previous experience, or by following our super cool tutorials.

The project runs inside a development Docker container, so the host machine only needs to be able to run Docker. All software pre-requisites are installed in the image.

Building

First, make sure your code is in the proper place. There is a specific directory structure required, which is:

catkin_ws
 -> src
     -> rocket_league (this repo)

Starting from scratch in the parent directory for catkin_ws, run:

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone [email protected]:purdue-arc/rocket_league.git

You should have a different catkin workspace for each project, so if you already use ROS for something else (other than the ARC tutorials), you should name the workspace something different such as arc_ws or rktl_ws.

Run all future commands inside the rocket_league folder.

First, pull a mostly built Docker container, and customize it for your machine:

./docker/docker-build.sh

Next, launch the Docker container:

./docker/docker-run.sh

Your terminal will be transported into the container. The directory ~/catkin_ws inside the container is mapped to the workspace wherever you put it, and whatever you named it outside the container. Changes in here are permanent when the container exist, but installing software and other actions are all isolated from your main computer and will be lost when you exit the container.

Finally, build the code:

cd catkin_ws
catkin build

Optionally, run the automated tests:

catkin test

Running

This resumes where Building left off, so run all these commands in the container, not your host computer

To run the project's simulator and visualizer, run:

roslaunch rktl_launch rocket_league_sim.launch

To manually give the car input, run:

roslaunch rktl_control keyboard_control.launch

This must be done while the first command is still running. You can either:

• run ./docker/docker-join.sh in another terminal on your host machine to transport that terminal into the same container
• use CTRL+Z and bg to push the current process into the background, so that you can run another command. (use fg to bring it back into the foreground)
• use tmux to have multiple terminals inside one

To stop the current process, type CTRL+C. To exit the container, simply type exit or CTRL+D.