Merge branch 'develop' into improve_ball_around

crane_msgs/msg/analysis/PlaySituation.msg

@@ -32,7 +32,7 @@ uint8 OUR_PENALTY_PREPARATION = 13
 uint8 OUR_PENALTY_START = 14
 uint8 OUR_DIRECT_FREE = 15
 # uint8 OUR_INDIRECT_FREE = 16　現在は非推奨（使われていない）
-# uint8 OUR_TIMEOUT = 17  use halt
+uint8 OUR_TIMEOUT = 17
 # uint8 OUR_GOAL = 18 use halt
 uint8 OUR_BALL_PLACEMENT = 19
 
@@ -42,7 +42,7 @@ uint8 THEIR_PENALTY_PREPARATION = 23
 uint8 THEIR_PENALTY_START = 24
 uint8 THEIR_DIRECT_FREE = 25
 # uint8 THEIR_INDIRECT_FREE = 26 現在は非推奨（使われていない）
-# uint8 THEIR_TIMEOUT = 27  use halt
+uint8 THEIR_TIMEOUT = 27
 # uint8 THEIR_GOAL = 28 use halt
 uint8 THEIR_BALL_PLACEMENT = 29
 

crane_play_switcher/src/play_switcher.cpp

@@ -150,13 +150,14 @@ void PlaySwitcher::referee_callback(const robocup_ssl_msgs::msg::Referee & msg)
       command_map[Referee::COMMAND_HALT] = PlaySituation::HALT;
       command_map[Referee::COMMAND_STOP] = PlaySituation::STOP;
 
-      REDIRECT_MAPPING(TIMEOUT, HALT)
+      //      REDIRECT_MAPPING(TIMEOUT, HALT)
       REDIRECT_MAPPING(GOAL, HALT)
 
       CMD_MAPPING(is_yellow, PREPARE_KICKOFF, KICKOFF_PREPARATION)
       CMD_MAPPING(is_yellow, PREPARE_PENALTY, PENALTY_PREPARATION)
       CMD_MAPPING(is_yellow, DIRECT_FREE, DIRECT_FREE)
       CMD_MAPPING(is_yellow, BALL_PLACEMENT, BALL_PLACEMENT)
+      CMD_MAPPING(is_yellow, TIMEOUT, TIMEOUT)
 
       next_play_situation = command_map[msg.command];
       inplay_command_info.reason = "RAWコマンド変化：コマンド転送";

crane_robot_skills/src/attacker.cpp

@@ -29,13 +29,16 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
     if (
       game_command == crane_msgs::msg::PlaySituation::OUR_DIRECT_FREE ||
       game_command == crane_msgs::msg::PlaySituation::OUR_KICKOFF_START) {
-      auto best_receiver = selectPassReceiver();
-      forced_pass_receiver_id = best_receiver->id;
-      setParameter("receiver_id", best_receiver->id);
-      auto receiver = world_model()->getOurRobot(forced_pass_receiver_id);
-      kick_skill.setParameter("target", receiver->pose.pos);
-      forced_pass_phase = 1;
-      return true;
+      if (auto best_receiver = selectPassReceiver(); best_receiver) {
+        forced_pass_receiver_id = best_receiver->id;
+        setParameter("receiver_id", best_receiver->id);
+        auto receiver = world_model()->getOurRobot(forced_pass_receiver_id);
+        kick_skill.setParameter("target", receiver->pose.pos);
+        forced_pass_phase = 1;
+        return true;
+      } else {
+        return false;
+      }
     } else {
       return false;
     }
@@ -62,6 +65,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
         if (receiver_id != -1) {
           kick_target = world_model()->getOurRobot(receiver_id)->pose.pos;
         }
+        kick_skill.setParameter("target", kick_target);
         Segment kick_line{world_model()->ball.pos, kick_target};
         // 近くに敵ロボットがいればチップキック
         if (const auto enemy_robots = world_model()->theirs.getAvailableRobots();
@@ -376,7 +380,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
 
   addStateFunction(AttackerState::KICK_TO_GOAL, [this]() -> Status {
     kick_skill.setParameter("target", world_model()->getTheirGoalCenter());
-    kick_skill.setParameter("kick_power", 0.8);
+    kick_skill.setParameter("kick_power", 0.9);
     // kick_skill.setParameter("dot_threshold", 0.95);
     kick_skill.setParameter("kick_with_chip", false);
     return kick_skill.run();

session/crane_planner_plugins/src/emplace_robot_planner.cpp

@@ -57,7 +57,7 @@ auto EmplaceRobotPlanner::getSelectedRobots(
       if (select_num <= selected.size()) {
         break;
       }
-      if (goalie_id != id) {
+      if (100 == selectable_robots_num || goalie_id != id) {
         selected.emplace_back(id);
       }
     }

session/crane_session_controller/config/normal.yaml

@@ -57,3 +57,7 @@ events:
     session: simple_ai
   - event: INJECTION
     session: HALT
+  - event: OUR_TIMEOUT
+    session: emplace_robot
+  - event: THEIR_TIMEOUT
+    session: emplace_robot

session/crane_session_controller/config/play_situation/emplace.yaml

@@ -0,0 +1,7 @@
+name: emplace_robot
+description: emplace_robot
+sessions:
+  - name: emplace_robot
+    capacity: 100
+  - name: waiter
+    capacity: 20

utility/crane_msg_wrappers/include/crane_msg_wrappers/robot_command_wrapper.hpp

@@ -321,7 +321,9 @@ class RobotCommandWrapperPosition : public RobotCommandWrapperCommon<RobotComman
 
   RobotCommandWrapperPosition & stopHere() override
   {
-    return setTargetPosition(command->robot->pose.pos);
+    return setTargetPosition(command->robot->pose.pos)
+      .setTargetTheta(command->robot->pose.theta)
+      .setOmegaLimit(0.);
   }
 };
 

utility/crane_msg_wrappers/src/play_situation_wrapper.cpp

@@ -54,6 +54,8 @@ static std::map<int, std::string> situation_command_map = {
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, THEIR_DIRECT_FREE),
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, OUR_BALL_PLACEMENT),
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, THEIR_BALL_PLACEMENT),
+  CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, OUR_TIMEOUT),
+  CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, THEIR_TIMEOUT),
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, INJECTION),
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, INPLAY),
   CMD_STRING_MAPPING(crane_msgs::msg::PlaySituation, OUR_INPLAY),