Multi team sim

.gitignore

@@ -8,6 +8,7 @@
 .idea/workspace.xml
 .idea/tasks.xml
 .idea/*
+.junie/
 
 **/.idea/
 **/cmake-build-debug/

pixi.toml

@@ -45,6 +45,7 @@ python = "==3.12.1, <3.13"
 
 # Patches
 readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a mismatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
+pixi-pycharm = ">=0.0.12,<0.0.13"
 
 [feature.ros.dependencies]
 # Misc dependencies for our ROS 2 packages

src/bitbots_misc/bitbots_bringup/launch/mujoco_simulation.launch.py

@@ -3,6 +3,7 @@
 
 import yaml
 from ament_index_python.packages import get_package_share_directory
+from bitbots_mujoco_sim.world import compute_game_settings, generate_world_xml, parse_num_robots
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -88,34 +89,13 @@ def generate_domain_bridge_config(robot_domain: int, output_dir: Path) -> Path:
     return config_path
 
 
-def generate_world_xml(num_robots: int, package_share: str, robot_type: str) -> Path:
-    """Generate MuJoCo world XML with the correct number of robots."""
-    template_path = Path(package_share) / "xml" / "kid_field.xml"
-    output_path = Path(package_share) / "xml" / "generated_world.xml"
-    offset = 4 * (
-        1 / num_robots
-    )  # this makes the offset be the default value when there are 4 robots and increse the less robots there are
-
-    with open(template_path) as f:
-        template = f.read()
-
-    # Replace placeholder with actual robot count
-    world_xml = (
-        template.replace("{{NUM_ROBOTS}}", str(num_robots))
-        .replace("{{OFFSET}}", str(offset))
-        .replace("{{ROBOT_TYPE}}", robot_type)
-    )
-
-    with open(output_path, "w") as f:
-        f.write(world_xml)
-    return output_path
-
-
 def launch_setup(context):
     """Dynamically set up launches based on num_robots."""
-    num_robots = int(LaunchConfiguration("num_robots").perform(context))
+    num_robots_spec = LaunchConfiguration("num_robots").perform(context)
+    num_robots = sum(parse_num_robots(num_robots_spec))  # total robots across all teams
     robot_type = str(LaunchConfiguration("robot_type").perform(context))
     use_web = LaunchConfiguration("web").perform(context).lower() == "true"
+    start_teamplayer = LaunchConfiguration("teamplayer").perform(context).lower() == "true"
     package_share = get_package_share_directory("bitbots_mujoco_sim")
     bridge_config_dir = Path(package_share) / "config" / "domain_bridges"
 
@@ -126,7 +106,12 @@ def launch_setup(context):
         if value:  # Only pass if not empty string
             teamplayer_args.append(f"{arg_name}:={value}")
 
-    world_file = generate_world_xml(num_robots, package_share, robot_type)
+    world_file = generate_world_xml(num_robots_spec, package_share, robot_type)
+
+    # Compute individual game settings for every robot so that each robot gets its
+    # own team affiliation, bot id and role instead of relying on hand-written
+    # per-domain config files. Ordered the same as the robot domains below.
+    game_settings = compute_game_settings(parse_num_robots(num_robots_spec))
 
     actions = []
 
@@ -144,7 +129,8 @@ def launch_setup(context):
         ),
     )
 
-    for robot_domain in range(11, num_robots + 11):  # 11 is the standart starting id for our robots
+    # 11 is the standard starting id for our robots
+    for robot_index, robot_domain in enumerate(range(11, num_robots + 11)):
         config_file = generate_domain_bridge_config(robot_domain, bridge_config_dir)
         actions.append(
             LogInfo(msg=f"Starting domain bridge for robot{robot_domain} (domain {robot_domain})"),
@@ -160,25 +146,32 @@ def launch_setup(context):
             ),
         )
 
-        actions.append(
-            TimerAction(
-                period=3.0,
-                actions=[
-                    LogInfo(msg=f"Launching teamplayer stack for robot{robot_domain} in domain {robot_domain}"),
-                    ExecuteProcess(
-                        cmd=[
-                            "ros2",
-                            "launch",
-                            "bitbots_bringup",
-                            "teamplayer.launch",
-                        ]
-                        + teamplayer_args,
-                        output="screen",
-                        additional_env={"ROS_DOMAIN_ID": str(robot_domain)},
-                    ),
-                ],
+        # Pass this robot's individual game settings down to the teamplayer stack,
+        # where parameter_blackboard.launch.py applies them on top of the shared
+        # game_settings.yaml defaults.
+        robot_game_settings_args = [f"{key}:={value}" for key, value in game_settings[robot_index].items()]
+
+        if start_teamplayer:
+            actions.append(
+                TimerAction(
+                    period=3.0,
+                    actions=[
+                        LogInfo(msg=f"Launching teamplayer stack for robot{robot_domain} in domain {robot_domain}"),
+                        ExecuteProcess(
+                            cmd=[
+                                "ros2",
+                                "launch",
+                                "bitbots_bringup",
+                                "teamplayer.launch",
+                            ]
+                            + teamplayer_args
+                            + robot_game_settings_args,
+                            output="screen",
+                            additional_env={"ROS_DOMAIN_ID": str(robot_domain)},
+                        ),
+                    ],
+                )
             )
-        )
 
     return actions
 
@@ -187,10 +180,18 @@ def generate_launch_description():
     """Launch MuJoCo simulation with domain bridge for multi-robot support."""
 
     declared_args = [
+        DeclareLaunchArgument(
+            "teamplayer",
+            default_value="true",
+            description="Whether to launch the teamplayer software stack for the simulated robots",
+        ),
         DeclareLaunchArgument(
             "num_robots",
             default_value="1",
-            description="Number of robots in the simulation",
+            description=(
+                "Robot setup in the simulation. Either a single number for one team "
+                "(e.g. '3') or a colon separated team setup (e.g. '2:2' for a 2 vs 2)."
+            ),
         ),
         DeclareLaunchArgument(
             "robot_type",

src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+    <arg name="teamplayer" default="true" description="Whether the teamplayer software stack should be started" />
     <arg name="audio" default="false" description="Whether the audio system should be started" />
     <arg name="behavior" default="true" description="Whether the behavior control system should be started" />
     <arg name="behavior_dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
@@ -20,7 +21,7 @@
     </include>
 
     <!-- load teamplayer software stack -->
-    <include file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">
+    <include if="$(var teamplayer)" file="$(find-pkg-share bitbots_bringup)/launch/teamplayer.launch">
         <arg name="audio" value="$(var audio)" />
         <arg name="behavior" value="$(var behavior)" />
         <arg name="behavior_dsd_file" value="$(var behavior_dsd_file)" />

src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch

@@ -19,11 +19,23 @@
     <arg unless="$(var sim)" name="fieldname" default="small_division_2026" description="Loads field settings" />
     <arg if="$(var sim)" name="fieldname" default="hsl_kid" description="Loads field settings" />
 
+    <!-- per-robot game settings, empty means use the default from the config for the robot -->
+    <arg name="bot_id" default="" description="Per-robot override for the bot_id game setting" />
+    <arg name="team_id" default="" description="Per-robot override for the team_id game setting" />
+    <arg name="team_color" default="" description="Per-robot override for the team_color game setting" />
+    <arg name="role" default="" description="Per-robot override for the role game setting" />
+    <arg name="position_number" default="" description="Per-robot override for the position_number game setting" />
+
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch.py">
         <arg name="sim" value="$(var sim)" />
         <arg name="fieldname" value="$(var fieldname)" />
+        <arg name="bot_id" value="$(var bot_id)" />
+        <arg name="team_id" value="$(var team_id)" />
+        <arg name="team_color" value="$(var team_color)" />
+        <arg name="role" value="$(var role)" />
+        <arg name="position_number" value="$(var position_number)" />
     </include>
 
     <!-- load the text to speech engine -->

src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml

@@ -1,4 +1,4 @@
-parameter_blackboard:
+/parameter_blackboard:
   ros__parameters:
     bot_id: 1
     monitoring_host_ip: 0.0.0.0

src/bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch.py

@@ -1,7 +1,5 @@
 from __future__ import annotations
 
-import os
-
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
@@ -10,6 +8,18 @@
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterFile
 
+# Per-robot game settings that may be provided as launch arguments (e.g. by the
+# multi-robot simulation launch) to override the shared ``game_settings.yaml``
+# defaults. Each entry maps the launch argument name to the type its value should
+# be cast to before it is passed to the parameter blackboard.
+GAME_SETTING_OVERRIDES = {
+    "bot_id": int,
+    "team_id": int,
+    "team_color": int,
+    "role": str,
+    "position_number": int,
+}
+
 
 def generate_launch_description() -> LaunchDescription:
     package_name = "bitbots_parameter_blackboard"
@@ -28,13 +38,17 @@ def create_node(context, *args, **kwargs):
             ParameterFile(PathJoinSubstitution([package_share, "config", "game_settings.yaml"])),
         ]
 
-        robot_domain = os.environ.get("ROS_DOMAIN_ID")
-        if in_sim and robot_domain is not None:
-            parameters.append(
-                ParameterFile(
-                    PathJoinSubstitution([package_share, "config", f"sim_game_settings_{int(robot_domain)}.yaml"])
-                )
-            )
+        # Per-robot game settings can be injected as launch arguments. They are
+        # applied after ``game_settings.yaml`` so that explicitly provided values
+        # win over the shared defaults. Unset arguments (empty string) are ignored
+        # and keep the shared default.
+        overrides = {}
+        for arg_name, cast in GAME_SETTING_OVERRIDES.items():
+            value = LaunchConfiguration(arg_name).perform(context)
+            if value != "":
+                overrides[arg_name] = cast(value)
+        if overrides:
+            parameters.append(overrides)
 
         return [
             Node(
@@ -43,6 +57,7 @@ def create_node(context, *args, **kwargs):
                 name="parameter_blackboard",
                 arguments=["--ros-args", "--log-level", "WARN"],
                 parameters=parameters,
+                namespace="/",
             )
         ]
 
@@ -55,6 +70,17 @@ def create_node(context, *args, **kwargs):
                 default_value=PythonExpression(["'hsl_kid' if '", sim, "' == 'true' else 'labor'"]),
                 description="Field name to load parameters for.",
             ),
+            *[
+                DeclareLaunchArgument(
+                    arg_name,
+                    default_value="",
+                    description=(
+                        f"Per-robot override for the '{arg_name}' game setting. "
+                        "Leave empty to use the shared game_settings.yaml default."
+                    ),
+                )
+                for arg_name in GAME_SETTING_OVERRIDES
+            ],
             IncludeLaunchDescription(
                 AnyLaunchDescriptionSource(
                     PathJoinSubstitution([get_package_share_directory("bitbots_utils"), "launch", "welcome.launch"])

src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/joint.py

@@ -16,7 +16,7 @@ def __init__(
         self.ros_name: str = ros_name
         self.name: str = name if name is not None else ros_name
         self.joint_instance: int = model.joint(self.name)
-        self.actuator_instance: int = model.actuator(self.name.replace("_joint_", "_"))
+        self.actuator_instance: int = model.actuator(self.name.replace("_joint", ""))
 
         aid = self.actuator_instance.id
         self._default_kp: float = float(model.actuator_gainprm[aid, 0])

src/bitbots_simulation/bitbots_mujoco_sim/bitbots_mujoco_sim/robot.py

@@ -96,7 +96,9 @@ def quaternion_noisy_sensor(base_name: str, ros_name: str) -> QuaternionNoisySen
         )
 
     def _get_name(self, base_name: str) -> str:
-        return f"robot_{base_name}_{self.index}"
+        # Each robot is attached with a unique "robot_<index>_" prefix in the world XML,
+        # so its element names are the prefix followed by the bare model element name.
+        return f"robot_{self.index}_{base_name}"
 
     @property
     def domain(self) -> int: