• Maintainer status: maintained
• Maintainer: NuBot Team
• Author: NuBot Team
• License: Apache
• Bug / feature tracker: https://github.com/nubot-nudt/coach4sim/issues
• Source: git https://github.com/nubot-nudt/coach4sim (branch: master)

Note: If you want to use coach4sim, you need to install Qt. For those who don't want to install Qt, a solution is using command line to send game commands as follows:
In another terminal, input the following to send a game command:

rostopic pub -r 1 /nubot/receive_from_coach  nubot_common/CoachInfo "
MatchMode: 10
MatchType: 0" 

Indeed, when you input until nubot_common/CoachInfo, you could press 'Tab' twice and then the whole definition of the message would show up. Then you could fill up the message. However, you only need to fill in two fields: 'MatchMode' and 'MatchType', where 'MatchMode' is the current game command, 'MatchType' is the previous game command. The coding of the game commands is in core.hpp. For quick reference:

enum MatchMode {
                  STOPROBOT  =  0,
                  OUR_KICKOFF = 1,
                  OPP_KICKOFF = 2,
                  OUR_THROWIN = 3,
                  OPP_THROWIN = 4,
                  OUR_PENALTY = 5,
                  OPP_PENALTY = 6,
                  OUR_GOALKICK = 7 ,
                  OPP_GOALKICK = 8,
                  OUR_CORNERKICK = 9,
                  OPP_CORNERKICK = 10,
                  OUR_FREEKICK = 11,
                  OPP_FREEKICK = 12,
                  DROPBALL     = 13,
                  STARTROBOT   = 15,
                  PARKINGROBOT = 25,
                  TEST = 27
                };

1.请将coach_ws文件夹放到home目录下；
2.作为coach其环境变量中的AGENT=0,需要修改brashrc,重启生效,或者每次在终端中输入export AGENT=0;UPATE：现在将AGENT环境变量的设置放在了roslaunch文件中，所以现在不需要手动设置AGENT了。
3.新电脑第一次用裁判盒时，需要修改一个权限：

sudo gedit /etc/security/limits.conf   
  *               -       rtprio          100   

4.结束整个coach时，需要关闭ui和ctrl+c；
5.要修改RTBD的comm中的argv[1]参数，无线就是wlan0，有线就是eth0，当然如果插外置网卡再改；
6.当连接裁判盒时，所有按钮（空格可以STOP）都disabled；
7.为了减少不必要的数据传输负担，对RTDB的comm做了小的修改，只接收和发送必要的信息；
8.编译时如果提示找不到Eigen，把worldmodel的CMakeList中的两处Eigen3改成Eigen（因为最新的ros没有Eigen）；

1. run coach for real robots
   $ roslaunch nubot_coach nubot_coach.launch
2. run coach for simulation
   (1) coach for cyan: $ roslaunch nubot_coach cyan_sim.launch
   (2) coach for magenta: $ roslaunch nubot_coach magenta_sim.launch

1. When catkin_make, if it shows "fatal error: Eigen/Eigen: No such file or directory"
   Solution 1: look at /usr/include/eigen3/Eigen, if this folder exists, it means you have already installed Eigen; Input this command:
   $ sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
   Solution 2: 把worldmodel的CMakeList中的两处Eigen3改成Eigen（因为最新的ros没有Eigen）；

2. if you only changed the configuration parts of some files mention above and git should not record these changes, then you should run 'configure' file like this:
   $ sudo chmod +x configure
$ ./configure

   ​ (You could ignore the following part!)

NOTE: if used with RTDB, then you should change absolute path in rtdb files:

1. rtdb/parser/CMakeLists.txt:

(1) SET(RTDB_USER_H_FILE /home/nubot8/nubot_ws/src/nubot/world_model/include/nubot/rtdb/rtdb_user.h)

(2) SET(RTDB_INI_FILE /home/nubot8/nubot_ws/src/nubot/world_model/config/rtdb.ini )

(3) SET(RTDB_Config_FILE /home/nubot8/nubot_ws/src/nubot/world_model/config/rtdb.config )

2. rtdb/rtdb_api.cpp:
   std::string ini_config_file="/home/nubot8/nubot_ws/src/nubot/world_model/config/rtdb.ini";
3. rtdb/comm.cpp: 'wlano' or 'wlan1'
4. coach_info_pub.cpp: DB_get(AGENT), this AGENT depends your coach's agent number