Seeker coordinator

launch/soccer.launch.py

@@ -245,6 +245,13 @@ def generate_launch_description():
                 parameters=[param_config_filepath],
                 on_exit=Shutdown(),
             ),
+            Node(
+                package="rj_strategy",
+                executable="seeking_coordinator_node",
+                output="screen",
+                parameters=[param_config_filepath],
+                on_exit=Shutdown(),
+            ),
             Node(
                 package="rj_strategy",
                 executable="waller_node",

src/rj_msgs/CMakeLists.txt

@@ -60,6 +60,7 @@ rosidl_generate_interfaces(
 
   # Coordinators
   msg/KickerPicker.msg
+  msg/SeekingCoordinator.msg
   msg/Waller.msg
 
   # Agent Request Messages
@@ -68,7 +69,6 @@ rosidl_generate_interfaces(
   request/PassRequest.msg
   request/ScorerRequest.msg
   request/BallInTransitRequest.msg
-  request/SeekerRequest.msg
   request/PositionRequest.msg
   request/LeaveWallRequest.msg
   request/ResetScorerRequest.msg
@@ -86,6 +86,7 @@ rosidl_generate_interfaces(
   # Services
   srv/AgentCommunication.srv
   srv/KickerPicker.srv
+  srv/SeekingCoordinator.srv
   srv/Waller.srv
   srv/ListJoysticks.srv
   srv/PlanHypotheticalPath.srv

src/rj_msgs/msg/AgentRequest.msg

@@ -8,7 +8,6 @@ TestRequest[<=1] test_request
 PassRequest[<=1] pass_request
 ScorerRequest[<=1] scorer_request
 BallInTransitRequest[<=1] ball_in_transit_request
-SeekerRequest[<=1] seeker_request
 PositionRequest[<=1] position_request
 LeaveWallRequest[<=1] leave_wall_request
 ResetScorerRequest[<=1] reset_scorer_request

src/rj_msgs/msg/SeekingCoordinator.msg

@@ -0,0 +1,2 @@
+# This is a message to publish the current seekers' chosen positions
+rj_geometry_msgs/Point[16] positions

src/rj_msgs/srv/SeekingCoordinator.srv

@@ -0,0 +1,5 @@
+# Request a robot to be added to or removed from seekers
+uint8 robot_id     # ID of the robot (0 to kNumShells-1)
+bool wants_to_seek # True to add robot to seekers, false to remove.
+---
+bool success      # Always true

src/rj_strategy/CMakeLists.txt

@@ -53,7 +53,6 @@ set(RJ_STRATEGY_SRC
   src/agent/position/penalty_player.cpp
   src/agent/position/pivot_test.cpp
   src/agent/position/robot_factory_position.cpp
-  src/agent/position/seeker.cpp
   src/agent/position/smartidling.cpp
   src/agent/position/solo_offense.cpp
   src/agent/position/zoner.cpp
@@ -63,6 +62,7 @@ set(RJ_STRATEGY_SRC
 
   # Coordinators
   src/coordinator/kicker_picker_client.cpp
+  src/coordinator/seeking_client.cpp
   src/coordinator/waller_client.cpp
 )
 
@@ -115,6 +115,23 @@ ament_target_dependencies(kicker_picker_node
   ${RJ_STRATEGY_DEPS}
 )
 
+# Seeker Node
+add_executable(seeking_coordinator_node
+  ${RJ_STRATEGY_SRC}
+  src/coordinator/seeking_client.cpp
+  src/coordinator/seeking_coordinator.cpp
+)
+
+target_include_directories(seeking_coordinator_node
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(seeking_coordinator_node
+  ${RJ_STRATEGY_DEPS}
+)
+
 # Waller Node
 add_executable(waller_node
   ${RJ_STRATEGY_SRC}
@@ -163,7 +180,7 @@ install(
 )
 
 install(
-  TARGETS straight_line_test_node kicker_picker_node waller_node agent_action_clients
+  TARGETS straight_line_test_node kicker_picker_node seeking_coordinator_node waller_node agent_action_clients
   DESTINATION lib/${PROJECT_NAME}
 )
 

src/rj_strategy/include/rj_strategy/agent/communication.hpp

@@ -25,7 +25,6 @@
 #include "rj_strategy/agent/communication/reset_scorer_request.hpp"
 #include "rj_strategy/agent/communication/scorer_request.hpp"
 #include "rj_strategy/agent/communication/scorer_response.hpp"
-#include "rj_strategy/agent/communication/seeker_request.hpp"
 #include "rj_strategy/agent/communication/test_request.hpp"
 #include "rj_strategy/agent/communication/test_response.hpp"
 
@@ -34,9 +33,9 @@ namespace strategy::communication {
 /**
  * @brief a conglomeration of the different request types.
  */
-using AgentRequest = std::variant<JoinWallRequest, TestRequest, PassRequest, ScorerRequest,
-                                  BallInTransitRequest, SeekerRequest, PositionRequest,
-                                  LeaveWallRequest, ResetScorerRequest, IncomingBallRequest>;
+using AgentRequest =
+    std::variant<JoinWallRequest, TestRequest, PassRequest, ScorerRequest, BallInTransitRequest,
+                 PositionRequest, LeaveWallRequest, ResetScorerRequest, IncomingBallRequest>;
 
 /**
  * @brief a conglomeration of the different response types.
@@ -144,9 +143,6 @@ struct RosConverter<strategy::communication::AgentRequest, rj_msgs::msg::AgentRe
         } else if (const auto* ball_in_transit_request =
                        std::get_if<strategy::communication::BallInTransitRequest>(&from)) {
             result.ball_in_transit_request.emplace_back(convert_to_ros(*ball_in_transit_request));
-        } else if (const auto* seeker_request =
-                       std::get_if<strategy::communication::SeekerRequest>(&from)) {
-            result.seeker_request.emplace_back(convert_to_ros(*seeker_request));
         } else if (const auto* position_request =
                        std::get_if<strategy::communication::PositionRequest>(&from)) {
             result.position_request.emplace_back(convert_to_ros(*position_request));
@@ -177,8 +173,6 @@ struct RosConverter<strategy::communication::AgentRequest, rj_msgs::msg::AgentRe
             result = convert_from_ros(from.scorer_request.front());
         } else if (!from.ball_in_transit_request.empty()) {
             result = convert_from_ros(from.ball_in_transit_request.front());
-        } else if (!from.seeker_request.empty()) {
-            result = convert_from_ros(from.seeker_request.front());
         } else if (!from.position_request.empty()) {
             result = convert_from_ros(from.position_request.front());
         } else if (!from.leave_wall_request.empty()) {

src/rj_strategy/include/rj_strategy/agent/position.hpp

@@ -42,6 +42,7 @@
 
 // Coordinators
 #include "rj_strategy/coordinator/kicker_picker_client.hpp"
+#include "rj_strategy/coordinator/seeking_client.hpp"
 #include "rj_strategy/coordinator/waller_client.hpp"
 
 // tell compiler this class exists, but no need to import the whole header
@@ -52,6 +53,7 @@ namespace strategy {
 // Client Handles for coordinators
 struct ClientHandles {
     std::unique_ptr<KickerPickerClient> kicker_picker;
+    std::unique_ptr<SeekingClient> seeking_client;
     std::unique_ptr<WallerClient> waller;
 };
 

src/rj_strategy/include/rj_strategy/agent/position/offense.hpp

@@ -17,7 +17,7 @@
 #include <rj_msgs/action/robot_move.hpp>
 
 #include "rj_strategy/agent/position.hpp"
-#include "rj_strategy/agent/position/seeker.hpp"
+#include "rj_strategy/coordinator/seeking_client.hpp"
 
 namespace strategy {
 
@@ -41,6 +41,8 @@ class Offense : public Position {
 
     std::string get_current_state() override;
 
+    void die() override;
+
 private:
     /**
      * @brief Overriden from Position. Calls next_state and then state_to_task on each tick.
@@ -49,7 +51,7 @@ class Offense : public Position {
 
     enum State {
         DEFAULT,           // Decide what to do
-        SEEKING_START,     // Calculate seeking point
+        SEEKING_START,     // Join seeker group
         SEEKING,           // Get open
         POSSESSION_START,  // Try to shoot and send pass request
         POSSESSION,        // Holding the ball
@@ -164,8 +166,7 @@ class Offense : public Position {
 
     int pass_to_robot_id_ = 0;
 
-    /* RoleInterface Members */
-    Seeker seeker_;
+    // TODO: Remove rj_geometry::Point seeker_target_;
 
     // Used to cache targets between states
     rj_geometry::Point target_;
@@ -227,10 +228,6 @@ class Offense : public Position {
      * @return whether the ball is in an area that non-goalies cannot reach.
      */
     bool ball_in_red() const;
-
-    void broadcast_seeker_request(rj_geometry::Point seeking_point, bool adding);
-
-    std::unordered_map<int, rj_geometry::Point> seeker_points_;
 };
 
 }  // namespace strategy

src/rj_strategy/include/rj_strategy/agent/position/robot_factory_position.hpp

@@ -151,6 +151,8 @@ class RobotFactoryPosition : public Position {
     }
 
     bool set_position_override_if_requested();
+
+    std::shared_ptr<ClientHandles> clientHandles_;
 };
 
 }  // namespace strategy

src/rj_strategy/include/rj_strategy/agent/position/role_interface.hpp

@@ -25,7 +25,7 @@ namespace strategy {
  * all handled by the Planner Node.
  *
  * Similiarly, this abstract superclass serves as an interface for all roles
- * (ie. Waller, Marker, Seeker, etc.) to follow when being created. These roles
+ * (ie. Waller, Marker, etc.) to follow when being created. These roles
  * will take in a robot intent from the Defense/Offense classes and output a new
  * robot intent with the robot's next point depending on their role. The Defense/
  * Offense classes will decide on what role the robot is currently playing based