チーム名を変えても正常に動作するようにした

ibis-ssl · Feb 22, 2024 · 18f3bfd · 18f3bfd
1 parent 76a74d2
commit 18f3bfd
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Showing 3 changed files with 12 additions and 3 deletions.
diff --git a/crane_bringup/launch/play_switcher.launch.xml b/crane_bringup/launch/play_switcher.launch.xml
@@ -4,6 +4,7 @@
   <arg name="vision_port" default="10006" description="Set multicast port to connect SSL-Vision."/>
   <arg name="referee_addr" default="224.5.23.1" description="Set multicast address to connect Game Controller."/>
   <arg name="referee_port" default="11003" description="Set multicast port to connect Game Controller."/>
+  <arg name="team" default="ibis" description="team name"/>
 
   <!-- Nodes -->
   <node pkg="crane_session_controller" exec="crane_session_controller_node" output="screen">
@@ -37,11 +38,13 @@
 
   <node pkg="crane_world_model_publisher" exec="crane_world_model_publisher_node">
     <param name="initial_team_color" value="YELLOW"/>
-    <param name="team_name" value="ibis"/>
+    <param name="team_name" value="$(var team)"/>
     <!--        <on_exit type="shutdown" reason="normal"/>-->
   </node>
 
-  <node pkg="crane_play_switcher" exec="play_switcher_node" output="screen"/>
+  <node pkg="crane_play_switcher" exec="play_switcher_node" output="screen">
+    <param name="team_name" value="$(var team)"/>
+  </node>
 
   <node pkg="consai_visualizer" exec="consai_visualizer"/>
 

diff --git a/crane_play_switcher/include/crane_play_switcher/play_switcher.hpp b/crane_play_switcher/include/crane_play_switcher/play_switcher.hpp
@@ -13,6 +13,7 @@
 #include <crane_msgs/msg/world_model.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <robocup_ssl_msgs/msg/referee.hpp>
+#include <string>
 
 #include "visibility_control.h"
 
@@ -90,6 +91,8 @@ class PlaySwitcher : public rclcpp::Node
 
   BallAnalyzer ball_analyzer;
 
+  std::string team_name = "ibis";
+
   struct LastCommandChangedState
   {
     rclcpp::Time stamp;

diff --git a/crane_play_switcher/src/play_switcher.cpp b/crane_play_switcher/src/play_switcher.cpp
@@ -25,6 +25,9 @@ PlaySwitcher::PlaySwitcher(const rclcpp::NodeOptions & options)
 
   play_situation_pub = create_publisher<crane_msgs::msg::PlaySituation>("/play_situation", 10);
 
+  declare_parameter<std::string>("team_name", "ibis");
+  team_name = get_parameter("team_name").as_string();
+
   decoded_referee_sub = create_subscription<robocup_ssl_msgs::msg::Referee>(
     "/referee", 10, [this](const robocup_ssl_msgs::msg::Referee & msg) { referee_callback(msg); });
 
@@ -97,7 +100,7 @@ void PlaySwitcher::referee_callback(const robocup_ssl_msgs::msg::Referee & msg)
       //-----------------------------------//
       // raw command -> crane command
       std::map<int, int> command_map;
-      bool is_yellow = msg.yellow.name == "ibis";
+      bool is_yellow = msg.yellow.name == team_name;
 
       command_map[Referee::COMMAND_HALT] = PlaySituation::HALT;
       command_map[Referee::COMMAND_STOP] = PlaySituation::STOP;