# Progress of developing the package: CoSapce In Gazebo-ROS  

## Goals
* Robots  
  * Two robots: DONE
  * Different body colors: DONE
    * Plugin(libchange_body_color.so): DONE
  * Sensors
    * Camera: DONE
    * Three distance sensors: DONE
    * Two color sensors: DONE
    * Thermal Sensor for detecting victims and investigating the status of a victim: <-- not yet
  * Indicator
    * LED
      * Plugin(libchange_led_color.so): DONE
      * Turn Off: DONE  
        $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '0'
      * Turn On: DONE  
        $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '1'
      * Brinking pattern 1 (On:1sec, Off:1sec, On:1sec, Off:1sec, On:1sec, Off): DONE  
        $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '20'
      * Brinking pattern 2 (On:3sec, Off): DONE  
        $ rostopic pub -1 /ROBOT_1/led_switch std_msgs/Byte -- '30'
  * Controle moving of a robot from ROS topic
      * /ROBOT_1/cmd_vel and /ROBOT_2/cmd_vel: DONE

* Objects
  * Changing pose of the model:
    * Plugin(libObject_Manager.so): DONE(Partly)  
      * Replace objects in random: DONE  
      * Avoiding collision with other objects: DONE  
      * Avoiding collision with inhibit areas: DONE  
        $ roslaunch csrobot_ros spawn_csrobot_ros_match.launch  
        $ rostopic pub -1 /ObjectManager/cmd_objmgr std_msgs/Byte '1'  

* Game Fields
  * 180cm X 240cm
    * Walls: DONE
    * Floor:
      * A model with a texture: DONE
    * Obstacles: DONE

* Scoring Boards
  * Item indicators' topic name: DONE
    * Item indicators for ROBOT_1
      * Located right side of the field
      * led11_color, led12_color, ...., led17_color
      * Increasing number from center to the right
      * Sample command: Change the most centered item indicator color into RED.  
        $ rostopic pub -1 /led11_color std_msgs/Byte '12'
    * Item indicators for ROBOT_2
      * Located left side of the field
      * led21_color, led22_color, ...., led27_color
      * Increasing number from center to the left
      * Sample command: Change the most centered item indicator color into BLUE.  
        $ rostopic pub -1 /led21_color std_msgs/Byte '11'
    * Relationship between colors and numbers  
      * 11:Blue, 12:Red, 13:Purple, 14:Green, 15:Cyan, 16:Yellow, 17:White, 10:Black
  * Display scores: DONE
    * Display ROBOT_1 score
      * Sample command: Display "ROBOT1:100" over the right side item indicators.  
        $ gz marker -m 'action:ADD_MODIFY, type:TEXT, text:"ROBOT1:100", id:1, parent:"ScoreBoard1", pose:{position:{x:-0.4,y:0.0,z:0.5}},scale:{x:0.2,y:0.2,z:0.2}'
    * Display ROBOT_2 score
      * Sample command: Display "ROBOT2:300" over the right side item indicators.  
        $ gz marker -m 'action:ADD_MODIFY, type:TEXT, text:"ROBOT2:300", id:2, parent:"ScoreBoard2", pose:{position:{x:-0.4,y:0.0,z:0.5}},scale:{x:0.2,y:0.2,z:0.2}'

* Game Manager
  * At initializing a game:
    * Reading information from the texture of the floor: <-- not yet
  * Collecting objects and depositing objects:
    * When a robot detects an object:
      * Detecting of the detecting an object of a robot: <-- not yet
      * Flashing the LED of the robot at detecting an object: <-- not yet
    * At detecting the waiting of the robot after the detecting an object: <-- not yet
    * After detecting the waiting of the robot:
      * Detected object disappearing and moving new location: <-- not yet
      * Set indicators on a scoring board at detecting an object: <-- not yet
    * At depositing objects:
      * Reset indicators on a scoring board at detecting an object: <-- not yet
  * When a robot detects a trap:
    * Clear collected objects: <-- not yet

* Automatic Scoring:
  * Calculate the score: <-- not yet
  * Output the score from a topic: <-- not yet

* Things for the demonstrations
  * Launch files:
    * Spawning single robot on a sample game field: DONE
    * Spawning two robots on a sample game field: DONE

* Things for the tutorials
  * Blockly tutorial:
    * Sample programs: <-- not yet
    * Tutorial Documents: <-- not yet
  * Scratch tutorial:
    * Sample programs: <-- not yet
    * Tutorial Documents: <-- not yet

## Details or descriptions of plugins  
### libchange_body_color.so  
### libchange_led_color.so  

Edit date: 11 Apr. 2019