Test behavior

Test behavior

Package needed:

bio_ik_msgs
bitbots_blackboard
bitbots_body_behavior
bitbots_head_behavior
bitbots_msgs
bitbots_bringup
dynamic_stack_decider
dynamic_stack_decider_visualization
humanoid_league_msgs

Open gazebo simulator by roslaunch bitbots_bringup simulator.launch

If you have question about the simulator check the wiki Testing in simulation

Then

roslaunch bitbots_body_behavior behavior.launch

If everything goes well

open rqt in another terminal click Plugin->robocup->DSD_visualization

choose body behavior in the combo box

also try sim GameController by

rosrun humanoid_league_game_controller sim_gamestate.py

Some debug tips:

Trouble with tf2_ros

Changing file body_behavior.py and head_behavior.py execute by python instead of python3

Trouble with import GoalPartRealtive

The bitbots team upgrade their code, So just annotate everthing related to this new msgs