プランナの呼び出し設定など

ibis-ssl · Feb 18, 2024 · a885f3f · a885f3f
1 parent 6677d47
commit a885f3f
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Showing 3 changed files with 14 additions and 12 deletions.
diff --git a/crane_bringup/launch/play_switcher.launch.xml b/crane_bringup/launch/play_switcher.launch.xml
@@ -45,14 +45,14 @@
 
     <node pkg="consai_visualizer" exec="consai_visualizer"/>
 
-<!--    <node pkg="crane_sender" exec="sim_sender_node" output="screen">-->
-<!--        <param name="no_movement" value="false"/>-->
-<!--        <param name="theta_kp" value="5.0"/>-->
-<!--        <param name="theta_ki" value="0.0"/>-->
-<!--        <param name="theta_kd" value="1.0"/>-->
-<!--    </node>-->
-
-    <node pkg="crane_sender" exec="ibis_sender_node" output="screen">
-        <param name="sim" value="true"/>
+    <node pkg="crane_sender" exec="sim_sender_node" output="screen">
+        <param name="no_movement" value="false"/>
+        <param name="theta_kp" value="5.0"/>
+        <param name="theta_ki" value="0.0"/>
+        <param name="theta_kd" value="1.0"/>
     </node>
+
+<!--    <node pkg="crane_sender" exec="ibis_sender_node" output="screen">-->
+<!--        <param name="sim" value="true"/>-->
+<!--    </node>-->
 </launch>
diff --git a/session/crane_session_controller/config/normal.yaml b/session/crane_session_controller/config/normal.yaml
@@ -10,5 +10,7 @@ events:
     session: "formation"
   - event: "OUR_KICKOFF_PREPARATION"
     session: "formation"
+  - event: "OUR_KICKOFF_START"
+    session: "OUR_KICKOFF_START"
   - event: "INPLAY"
-    session: "mark"
+    session: "SIMPLE_ATTACK"
diff --git a/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml b/session/crane_session_controller/config/play_situation/OUR_KICKOFF_START.yaml
@@ -4,7 +4,7 @@ description: OUR_KICKOFF_START
 sessions:
   - name: "goalie"
     capacity: 1
-  - name: "attacker"
-    capacity: 1
+  - name: "our_kickoff"
+    capacity: 2
   - name: "waiter"
     capacity: 20