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Merged
texhnolyze merged 2 commits into from
Mar 12, 2026
Merged

Feature/hsl go teamcomm adjustments #769

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21dad8a
chore(team_comm): update ports/rate for new `game_controller`
val-ba Mar 11, 2026
b608b1e
feat(team_comm): add debug message showing protobu msg size
texhnolyze Mar 11, 2026
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4 changes: 3 additions & 1 deletion ...ation/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py
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Original file line number Diff line number Diff line change
Expand Up @@ -261,7 +261,9 @@ def is_still_valid(time: Optional[TimeMsg]) -> bool:
return (time is not None) and (now - Time.from_msg(time) < Duration(seconds=self.lifetime))

message = self.protocol_converter.convert_to_message(self, msg, is_still_valid)
self.socket_communication.send_message(message.SerializeToString())
proto_msg = message.SerializeToString()
self.logger.debug(f"Sending msg with size {len(proto_msg)} bytes")
self.socket_communication.send_message(proto_msg)

def create_empty_message(self, now: Time) -> Proto.Message:
message = Proto.Message()
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8 changes: 4 additions & 4 deletions ...tbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml
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Expand Up @@ -2,11 +2,11 @@ team_comm:
ros__parameters:
# UDP broadcast address is the highest IP in the subnet e.g. 172.20.255.255
# Sets local mode if set to loopback (127.0.0.1)
target_ip: 10.142.255.255
target_ip: 10.109.255.255

# Only used in non local mode with specific target_ip
target_port: 3737
receive_port: 3737
target_port: 10006
receive_port: 10006

# Only used in local mode on loopback
# the team communication will bind to one of these ports and send to the other ports, depending on its bot_id
Expand All @@ -17,7 +17,7 @@ team_comm:
- 4004

# Rate of published messages in Hz
rate: 10
rate: 2

# average walking speed in [m/s]
avg_walking_speed: 0.2
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