Other Scenarios¶
Due to the use of modules that can be exchanged, enabled and disabled through configuration files, the B-Human Codebase offers the option to write code for other applications than regular soccer, while still using large parts of the code for soccer.
The easiest way to do this are scenarios, which can be selected on deployment and also be used in SimRobot scenes.
AnyPlaceDemo¶
General Information¶
Sometimes it might be convenient to be able to show off how good the robots can play soccer without having to build a field, setting up a local WiFi network, etc. For small demos, we developed the AnyPlaceDemo. The robot currently has one mode:
Soccer¶
The robot will look for a ball in its field of view. If he can't find one, he will start to rotate 90 degree, look again and repeat this, until a ball is eventually found.
As soon as the robot sees a ball, he walks towards the ball and shoots with a normal kick full strength. If a different kick is desired, the skill DemoGoToBallAndKick needs to be adjusted.
This mode works very well as spectators can interact with the robot by passing the ball back.
The robot handlers must be cautions to not let the robot fall down any stairs and other dangerous ground conditions, as well as ensure the safety of the spectators, because during this demo no obstacle avoidance is active.
How to Use It¶
The robot should be booted up and deployed with the AnyPlaceDemo scenario selected.
Once it is unpenalized, it will start to act according to the mode.
Code¶
To make changes to the AnyPlaceDemo, one should look into the HandleAnyPlaceDemo.cpp Option and the according representations and skills.