game_controller_spl

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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

# 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