boosterrobotics/robocup_demo

How boosterrobotics/robocup_demo works

Booster RoboCup Demo runs a perception-to-action match workflow: vision recognizes field objects and estimates their robot-relative positions; the GameController adapter converts referee broadcasts to ROS topics; brain combines those inputs, selects match behavior, and commands the robot. Calibration and visualization are additional product capabilities. The README documents the main program boundaries; source excerpts and the index show selected internal ownership, but do not establish every ROS topic or runtime connection, so those links are omitted where evidence is absent.

Main entry points: brain.cpp Match decision · vision_node.cpp Vision node · game_controller_node.cpp GameController adapter · robot_client.cpp Motion commands

Components 22

Vision and calibration

Vision node src/vision/src/vision_node.cpp
Object detection src/vision/src/model/detector.cc
Segmentation src/vision/src/model/segmentor.cc
Pose estimation src/vision/src/pose_estimator/pose_estimator.cpp
Camera calibration src/vision/src/calibration/calibration_node.cpp
Detection converter src/detection_converter/scripts/detection_converter_node.py

Match inputs

GameController adapter src/game_controller/src/game_controller_node.cpp

Brain and behavior

Brain node src/brain/src/main.cpp
Match decision src/brain/src/brain.cpp
Behavior tree src/brain/src/brain_tree.cpp
Brain configuration src/brain/src/brain_config.cpp
Runtime state src/brain/src/brain_data.cpp
Robot localization src/brain/src/locator.cpp
Team communication src/brain/src/brain_communication.cpp
Match visualization src/brain/src/visualization_publisher.cpp
Coordinate utilities src/brain/include/utils/math.h
Brain utilities src/brain/include/utils/misc.h
Logging utilities src/brain/include/utils/print.h

Robot interface

Motion commands src/brain/src/robot_client.cpp

Other components

Camera streams
Referee broadcast
Booster robot

Connections 21

Camera streams → Vision node: provides images
Vision node → Object detection: detects objects
Vision node → Segmentation: segments field
Vision node → Pose estimation: estimates positions
Vision node → Match decision: supplies visual data
Referee broadcast → GameController adapter: broadcasts packets
GameController adapter → Match decision: publishes game data
Brain node → Match decision: constructs src/brain/src/main.cpp
Match decision → Behavior tree: ticks behavior
Match decision → Brain configuration: uses configuration
Match decision → Runtime state: uses runtime state
Match decision → Robot localization: uses localization
Match decision → Team communication: uses communication
Match decision → Match visualization: publishes markers
Match decision → Motion commands: issues actions
Motion commands → Booster robot: sends motion commands
Camera calibration → Pose estimation: uses estimator src/vision/src/calibration/calibration_node.cpp
Vision node → Camera streams: reads camera data
Coordinate utilities → Match decision: supports calculations src/brain/src/brain.cpp
Brain utilities → Match decision: supports utilities src/brain/src/brain.cpp
Logging utilities → Match decision: formats output src/brain/src/brain.cpp

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Drawn by GitDiagram on September 30, 2026 from the repository's file tree, README and source files. Read as Markdown ·