Robot2Robot SPL, abreviated as R2R_SPL is a ROS2 package that handles Intra-Team Communication for the RoboCup Standard Platform League.
In RoboCup Standard Platform League, communication between teammates have strict rules. They must adhere to a specific data structure and be broadcasted on the field network via UDP on a port designated to the team.
This package provides a ROS2 topic interface for team communication, such that teams can
simply publish to
r2r/send to broadcast a message, and subscribe to
r2r/recv to listen
to messages from teammates. The UDP connection and conversion to and from raw bytes are handled
in this package.
The project is hosted on Github by ROS Sports. Issues and Pull Requests are welcome!