Soccer Object Msgs

Ball

std_msgs/Header header
geometry_msgs/Point center

Goalpost

observed_top should be set to true, if point is being populated with a point at the top of the goalpost. This is how goalposts are reported in SimSpark.

observed_top should be set to false, if point is being poulated with a point at the bottom of the goalpost.

Reporting a goalpost with a point other than the top or bottom, is not supported with this msg type.

std_msgs/Header header
bool observed_top
geometry_msgs/Point point

GoalpostArray

Goalpost[]  posts

FieldLine

std_msgs/Header header
geometry_msgs/Point start
geometry_msgs/Point end

FieldLineArray

FieldLine[]  lines

Robot

Data type for robot observation in vision. Due to how robot observations are sent in SimSpark, this data message uses the “head” point of the robot.

std_msgs/Header header
geometry_msgs/Point head
string team
int32 id

RobotArray

Robot[]  robots

Flag

Flags refer to the corner flags on the field. base is the coordinate of the base of the flag’s pole.

std_msgs/Header header
geometry_msgs/Point base

FlagArray

Flag[] flags