The strategy module for ICRA RoboMaster 2020

The bottom actions submodule

The main entrypoint is main(int argc, char** argv). Two objects are constructed when started:

• roborts_decision::Blackboard contains all information that blackboard should contain.
• roborts_decision::StrategyExecute receives the message dqn_network sends and execute the corresponding strategy.

The strategy selection submodule

Action selection are written in module dqn_network, using Python and Tensorflow.

directory structure

• camke_module, config, data: Config files.
• proto: Messages to communicate to other ROS nodes.
• behavior_tree: Strategy selection using the behavior tree model.
• dqn_decision: Strategy selection using the Deep Q Learning.
• blackboard: Exposes the roborts_decision::StrategyExecute class, which provides all information.
• strategy: Code to execute the chosen strategy.
• executor: Provides low-level API that move the robots.