Getting Started

Prerequisites

• Docker and Docker Compose
• WSL2 (if on Windows)

Setup and Running

1. Build and start the containers:

   make build
   make up

2. Start GrSim simulator:

   make grsim

   Access the GrSim interface through VNC viewer at localhost:5900

3. Run the vision receiver:

   make exec  # Enter the container
   make apply
   make vision

4. Verify data reception (optional):

   In another terminal:

   make exec
   make apply
   ros2 topic echo /vision_receiver/detection

5. Run Autonomous Game

   make exec
   make apply
   make launch

Troubleshooting

• If you don't see UDP packets, check that GrSim is properly configured to send to multicast address 224.5.23.2 on port 10006
• For multicast issues in Docker/WSL2, ensure proper network configuration in docker-compose.yml
• Use tcpdump -i any udp port 10006 inside the container to verify packets are arriving

Ingame Commands

All these commands should be executed inside the container

Change Behavior

make change-behavior robot_id=0 behavior_type=goalkeeper

Framework Structure

This is the ros2 structure of modules in the taura-framework

Behaviors UML

Decision Tree