# game_controller_spl

*This file is ai generated. Do not edit this file directly. Instead, edit the node source code and run the generate-node-docs command to update this file.*

## Node Description
A ROS2 node that runs on the robot to communicate with the SPL GameController. This node handles bidirectional communication using UDP sockets, receiving game state data from the GameController and sending robot status information back.

## Publishers
| Topic | Message Type | Description |
|-------|--------------|-------------|
| `gc/data` | `game_controller_spl_interfaces/msg/RCGCD{14,15,16}` | Publishes game controller data received via UDP (message type depends on rcgcd_version parameter) |

## Subscribers
| Topic | Message Type | Description |
|-------|--------------|-------------|
| `gc/return_data` | `game_controller_spl_interfaces/msg/RCGCRD4` | Receives robot status data to send back to GameController |

## Parameters
| Parameter | Type | Default | Description |
|-----------|------|---------|-------------|
| `return_port` | int | `3939` | Port for returning data to GameController |
| `rcgcd_version` | int | *Required* | RoboCup Game Control Data version (14, 15, or 16) |
| `rcgcrd_version` | int | *Required* | RoboCup Game Control Return Data version (currently only 4 is supported) |

## Example Usage
```bash
# Run with RCGCD version 16 and RCGCRD version 4
ros2 run game_controller_spl game_controller_spl --ros-args -p rcgcd_version:=16 -p rcgcrd_version:=4

# Run with custom return port
ros2 run game_controller_spl game_controller_spl --ros-args -p rcgcd_version:=15 -p rcgcrd_version:=4 -p return_port:=3940
```