I propose a package for publishing field dimensions in ROS2, one package for each league. This is to provide a way for nodes to easily access field dimensions.
Considering there is no global parameter server in ROS2, my instinct is to publish the field dimensions once at the start on a transient_local topic such that all nodes can access this information even if they join later.
I will take the middle-sized league as an example, where the field dimensions are clearly defined in the rulebook as below:
Below is a diagram illustrating how we can have a YAML file per field, and we can publish the dimensions on a topic for other nodes to use.
Below is the msg that will be published on /field_dimension_msl.
// FieldDimensionsMSL.msg float32 A // 22.0 for the example above float32 B // 14.0 for the example above ... float32 Q // 3.5 for the example above
I am interested in hearing feedback about this proposal from teams that are using ROS or ROS2. Thanks!