SSL-Test

A Python toolkit for communicating with grSim and SSL-Vision in the RoboCup Small Size League (SSL) environment.

Features

• Proto Compilation — Compile .proto definitions to Python modules
• Vision Reception — Receive real-time robot and ball positions from SSL-Vision via multicast
• Robot Control — Send movement commands (velocity, rotation, kick, dribble) to grSim

Prerequisites

• Python 3.8+
• grSim running locally

Setup

# Create and activate a virtual environment
python -m venv .venv
.venv\Scripts\activate   # Windows
# source .venv/bin/activate  # Linux / macOS

# Install dependencies
pip install -r requirements.txt

# Compile proto files
python compile_proto.py

Usage

Receive Vision Data

Listens on multicast 224.5.23.2:10006 and prints detected robots and ball positions.

python receive_vision.py

Send Robot Commands

Sends a movement demo (forward → stop → backward → stop → left → stop → right → stop → rotate → stop) to robot ID 0 on the blue team.

python send_robot_command.py

Project Structure

ssl-test/
├── proto/                  # .proto definitions (grSim & SSL-Vision)
├── generated/              # Auto-generated Python protobuf modules
├── compile_proto.py        # Proto → Python compiler script
├── receive_vision.py       # SSL-Vision multicast receiver
├── send_robot_command.py   # grSim robot command sender
└── requirements.txt        # Python dependencies

Network Configuration

Purpose	Protocol	Address
SSL-Vision data	Multicast	224.5.23.2:10006
grSim commands	UDP	127.0.0.1:20011

License

This project is for educational and experimental use with RoboCup SSL.