From 670d79d4e0feed6ec683a7d008811f1d834e1a63 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 19:03:18 +0900 Subject: [PATCH 01/21] =?UTF-8?q?autoref=E3=82=92=E8=B5=B7=E5=8B=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docker/docker-compose.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml index 998df03cf..79ce3b5fa 100644 --- a/docker/docker-compose.yaml +++ b/docker/docker-compose.yaml @@ -99,19 +99,19 @@ services: # - '-a' # active mode (connect to GC) # - '-hl' # headless # - '--visionAddress' -# - '224.5.23.2:10020' +# - '224.5.23.2:10006' # - '--refereeAddress' # - '224.5.23.1:11003' # network_mode: 'host' # -# autoref-erforce: -# image: 'roboticserlangen/autoref:commit-5ca75e7c7883' -# command: -# - '--vision-port' -# - '10020' -# - '--gc-port' -# - '11003' -# network_mode: 'host' + autoref-erforce: + image: roboticserlangen/autoref:commit-5ca75e7c7883 + command: + - --vision-port + - 10006 + - --gc-port + - 11003 + network_mode: host # simulator: # image: 'roboticserlangen/simulatorcli:commit-6a4e1c06533b' From 0a96e2b3bf40fe6e844179d9f321ca79a72a6796 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 19:03:29 +0900 Subject: [PATCH 02/21] =?UTF-8?q?yamllint=E3=81=AE=E8=A8=AD=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .yamllint.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e..1ffa981c4 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -2,6 +2,7 @@ extends: default ignore: | *.param.yaml + engine.yaml rules: braces: From 8bb3bcaae6040004f1f16523e27a3081ff91b6a1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 19:09:36 +0900 Subject: [PATCH 03/21] =?UTF-8?q?=E3=83=95=E3=82=A9=E3=83=BC=E3=83=A1?= =?UTF-8?q?=E3=83=BC=E3=82=B7=E3=83=A7=E3=83=B3=E3=82=92=E7=B5=84=E3=82=93?= =?UTF-8?q?=E3=81=A0=E3=81=A8=E3=81=8D=E3=81=AB=E3=83=9C=E3=83=BC=E3=83=AB?= =?UTF-8?q?=E3=81=AB=E8=BF=91=E3=81=99=E3=81=8E=E3=81=9F=E3=81=AE=E3=81=A7?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../crane_planner_plugins/formation_planner.hpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp index 51daffd4b..2fb536cce 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp @@ -36,12 +36,12 @@ class FormationPlanner : public PlannerBase std::vector getFormationPoints(int robot_num) { std::vector formation_points; - formation_points.emplace_back(0.5, 0.0); - formation_points.emplace_back(0.8, 0.5); - formation_points.emplace_back(0.8, -0.5); - formation_points.emplace_back(1.5, 0.0); - formation_points.emplace_back(1.5, 1.0); - formation_points.emplace_back(1.5, -1.0); + formation_points.emplace_back(0.6, 0.0); + formation_points.emplace_back(0.9, 0.5); + formation_points.emplace_back(0.9, -0.5); + formation_points.emplace_back(1.6, 0.0); + formation_points.emplace_back(1.6, 1.0); + formation_points.emplace_back(1.6, -1.0); if (world_model->getOurGoalCenter().x() < 0.0) { for (auto & point : formation_points) { From 79a34ee24b2111f26e0e10dcf0a2d5716abdbae8 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:03:18 +0900 Subject: [PATCH 04/21] =?UTF-8?q?BallPlacement=E3=81=AE=E6=83=85=E5=A0=B1?= =?UTF-8?q?=E4=BC=9D=E9=81=94=E3=81=AE=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_msgs/msg/world_model/WorldModel.msg | 2 -- crane_play_switcher/src/play_switcher.cpp | 5 ++++ .../src/world_model_publisher.cpp | 3 --- .../play_situation_wrapper.hpp | 8 +++---- .../world_model_wrapper.hpp | 23 +++++++++---------- .../src/play_situation_wrapper.cpp | 2 +- 6 files changed, 21 insertions(+), 22 deletions(-) diff --git a/crane_msgs/msg/world_model/WorldModel.msg b/crane_msgs/msg/world_model/WorldModel.msg index 006aa60ed..126e0adca 100755 --- a/crane_msgs/msg/world_model/WorldModel.msg +++ b/crane_msgs/msg/world_model/WorldModel.msg @@ -14,6 +14,4 @@ BallInfo ball_info RobotInfoOurs[] robot_info_ours RobotInfoTheirs[] robot_info_theirs -geometry_msgs/Point ball_placement_target - PlaySituation play_situation diff --git a/crane_play_switcher/src/play_switcher.cpp b/crane_play_switcher/src/play_switcher.cpp index 372de6dc3..5479877e3 100644 --- a/crane_play_switcher/src/play_switcher.cpp +++ b/crane_play_switcher/src/play_switcher.cpp @@ -187,6 +187,11 @@ void PlaySwitcher::referee_callback(const robocup_ssl_msgs::msg::Referee & msg) last_command_changed_state.stamp = now(); last_command_changed_state.ball_position = world_model->ball.pos; + if (msg.designated_position.size() > 0) { + play_situation_msg.placement_position.x = msg.designated_position[0].x; + play_situation_msg.placement_position.y = msg.designated_position[0].y; + } + // パブリッシュはコマンド更新時のみ play_situation_pub->publish(play_situation_msg); } diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp index fef61db67..db8131fed 100644 --- a/crane_world_model_publisher/src/world_model_publisher.cpp +++ b/crane_world_model_publisher/src/world_model_publisher.cpp @@ -195,9 +195,6 @@ void WorldModelPublisherComponent::publishWorldModel() wm.goal_size.x = goal_h; wm.goal_size.y = goal_w; - wm.ball_placement_target.x = ball_placement_target_x; - wm.ball_placement_target.y = ball_placement_target_y; - wm.our_goalie_id = our_goalie_id; wm.their_goalie_id = their_goalie_id; diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp index aeeb70daa..c7f5e26ee 100644 --- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp +++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp @@ -33,13 +33,13 @@ struct PlaySituationWrapper auto update(const crane_msgs::msg::PlaySituation & msg) -> void; - auto getRefereeCommandID() -> uint32_t const { return referee_command_raw.id; } + auto getRefereeCommandID() const -> uint32_t { return referee_command_raw.id; } - auto getRefereeCommandText() -> std::string const { return referee_command_raw.text; } + auto getRefereeCommandText() const -> std::string { return referee_command_raw.text; } - auto getSituationCommandID() -> uint32_t const { return situation_command.id; } + auto getSituationCommandID() const -> uint32_t { return situation_command.id; } - auto getSituationCommandText() -> std::string const { return situation_command.text; } + auto getSituationCommandText() const -> std::string { return situation_command.text; } static auto getRefereeCommandText(uint32_t id) -> std::string; diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp index 90aed1824..03c03e72b 100644 --- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp +++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp @@ -274,15 +274,6 @@ struct WorldModelWrapper theirs.defense_area.min_corner() << std::min(-ours.defense_area.max_corner().x(), -ours.defense_area.min_corner().x()), ours.defense_area.min_corner().y(); - - if ( - world_model.play_situation.command == crane_msgs::msg::PlaySituation::OUR_BALL_PLACEMENT or - world_model.play_situation.command == crane_msgs::msg::PlaySituation::THEIR_BALL_PLACEMENT) { - *ball_placement_target << world_model.ball_placement_target.x, - world_model.ball_placement_target.y; - } else { - ball_placement_target = std::nullopt; - } } [[nodiscard]] const crane_msgs::msg::WorldModel & getMsg() const { return latest_msg; } @@ -456,16 +447,24 @@ struct WorldModelWrapper [[nodiscard]] std::optional getBallPlacementTarget() const { - return ball_placement_target; + if ( + play_situation.getSituationCommandID() == + crane_msgs::msg::PlaySituation::OUR_BALL_PLACEMENT or + play_situation.getSituationCommandID() == + crane_msgs::msg::PlaySituation::THEIR_BALL_PLACEMENT) { + return play_situation.placement_position; + } else { + return std::nullopt; + } } // rule 8.4.3 [[nodiscard]] std::optional getBallPlacementArea() const { - if (ball_placement_target) { + if (auto target = getBallPlacementTarget()) { Capsule area; area.segment.first = ball.pos; - area.segment.second = ball_placement_target.value(); + area.segment.second = target.value(); area.radius = 0.5; return area; } else { diff --git a/utility/crane_msg_wrappers/src/play_situation_wrapper.cpp b/utility/crane_msg_wrappers/src/play_situation_wrapper.cpp index e450f06a5..d3b98bbbd 100644 --- a/utility/crane_msg_wrappers/src/play_situation_wrapper.cpp +++ b/utility/crane_msg_wrappers/src/play_situation_wrapper.cpp @@ -66,7 +66,7 @@ auto PlaySituationWrapper::update(const crane_msgs::msg::PlaySituation & msg) -> situation_command.id = msg.command; situation_command.text = situation_command_map[msg.command]; - placement_position << msg.placement_position.x, msg.placement_position.y; + placement_position << msg.placement_position.x / 1000., msg.placement_position.y / 1000.; } auto PlaySituationWrapper::getRefereeCommandText(uint32_t id) -> std::string From 62b5d793db2cff7f14eeeb5132e0fbdfe41dade5 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:05:18 +0900 Subject: [PATCH 05/21] =?UTF-8?q?=E3=83=87=E3=83=90=E3=83=83=E3=82=B0?= =?UTF-8?q?=E3=83=A1=E3=83=83=E3=82=BB=E3=83=BC=E3=82=B8=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_robot_skills/kickoff_attack.hpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp b/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp index 3c1fe2617..d0eca864b 100644 --- a/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp +++ b/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp @@ -30,7 +30,6 @@ class KickoffAttack : public SkillBase addStateFunction( KickoffAttackState::PREPARE_KICKOFF, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { - std::cout << "KickoffAttackState::PREPARE_KICKOFF" << std::endl; if (not go_over_ball) { go_over_ball = std::make_shared(robot->id, world_model); go_over_ball->setCommander(command); @@ -48,7 +47,6 @@ class KickoffAttack : public SkillBase addStateFunction( KickoffAttackState::KICKOFF, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { - std::cout << "KickoffAttackState::KICKOFF" << std::endl; command->setMaxVelocity(0.5); command->kickStraight(getParameter("kick_power")); command->setTargetPosition(world_model->ball.pos); From ad7b203464e6dfca342ffd402dadd90748605118 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:14:19 +0900 Subject: [PATCH 06/21] =?UTF-8?q?OurKickOffPlanner=E3=81=A7=E3=82=8F?= =?UTF-8?q?=E3=81=96=E3=82=8F=E3=81=96=E4=B8=80=E7=95=AA=E9=81=A0=E3=81=84?= =?UTF-8?q?=E3=83=AD=E3=83=9C=E3=83=83=E3=83=88=E3=82=92=E5=89=B2=E3=82=8A?= =?UTF-8?q?=E5=BD=93=E3=81=A6=E3=81=A6=E3=81=84=E3=81=9F=E3=83=90=E3=82=B0?= =?UTF-8?q?=E3=82=92=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_planner_plugins/our_kickoff_planner.hpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp index 66234722c..36e1b8635 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp @@ -59,7 +59,7 @@ class OurKickOffPlanner : public PlannerBase // 一番ボールに近いロボットをkickoff attack auto best_attacker = std::max_element( selectable_robots.begin(), selectable_robots.end(), [this](const auto & a, const auto & b) { - return world_model->getOurRobot(a)->getDistance(world_model->ball.pos) < + return world_model->getOurRobot(a)->getDistance(world_model->ball.pos) > world_model->getOurRobot(b)->getDistance(world_model->ball.pos); }); Point supporter_pos{0.0, 2.0}; @@ -73,7 +73,7 @@ class OurKickOffPlanner : public PlannerBase // bの方大きくない => best_attackerであるbが除外される return false; } else { - return world_model->getOurRobot(a)->getDistance(supporter_pos) < + return world_model->getOurRobot(a)->getDistance(supporter_pos) > world_model->getOurRobot(b)->getDistance(supporter_pos); } }); From 082b41e44b92be2c9d3b6853f76d032202aba77d Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:31:31 +0900 Subject: [PATCH 07/21] =?UTF-8?q?GameController=E3=81=AE=E8=A8=AD=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docker/config/engine.yaml | 181 ++++++++++-------- docker/config/state-store.json.stream | 260 -------------------------- 2 files changed, 106 insertions(+), 335 deletions(-) diff --git a/docker/config/engine.yaml b/docker/config/engine.yaml index 43408d015..7a2c07a05 100644 --- a/docker/config/engine.yaml +++ b/docker/config/engine.yaml @@ -1,77 +1,108 @@ { - gameEventBehavior: - { - AIMLESS_KICK: BEHAVIOR_ACCEPT_MAJORITY, - ATTACKER_DOUBLE_TOUCHED_BALL: BEHAVIOR_ACCEPT_MAJORITY, - ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA: BEHAVIOR_ACCEPT_MAJORITY, - ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA: BEHAVIOR_ACCEPT_MAJORITY, - BALL_LEFT_FIELD_GOAL_LINE: BEHAVIOR_ACCEPT_MAJORITY, - BALL_LEFT_FIELD_TOUCH_LINE: BEHAVIOR_ACCEPT_MAJORITY, - BOT_CRASH_DRAWN: BEHAVIOR_ACCEPT_MAJORITY, - BOT_CRASH_UNIQUE: BEHAVIOR_ACCEPT_MAJORITY, - BOT_DRIBBLED_BALL_TOO_FAR: BEHAVIOR_ACCEPT_MAJORITY, - BOT_HELD_BALL_DELIBERATELY: BEHAVIOR_ACCEPT_MAJORITY, - BOT_INTERFERED_PLACEMENT: BEHAVIOR_ACCEPT_MAJORITY, - BOT_KICKED_BALL_TOO_FAST: BEHAVIOR_ACCEPT_MAJORITY, - BOT_PUSHED_BOT: BEHAVIOR_ACCEPT_MAJORITY, - BOT_TIPPED_OVER: BEHAVIOR_ACCEPT_MAJORITY, - BOT_TOO_FAST_IN_STOP: BEHAVIOR_ACCEPT_MAJORITY, - BOUNDARY_CROSSING: BEHAVIOR_ACCEPT_MAJORITY, - DEFENDER_IN_DEFENSE_AREA: BEHAVIOR_ACCEPT_MAJORITY, - DEFENDER_TOO_CLOSE_TO_KICK_POINT: BEHAVIOR_ACCEPT_MAJORITY, - GOAL: BEHAVIOR_ACCEPT_MAJORITY, - INVALID_GOAL: BEHAVIOR_ACCEPT_MAJORITY, - KEEPER_HELD_BALL: BEHAVIOR_ACCEPT_MAJORITY, - NO_PROGRESS_IN_GAME: BEHAVIOR_ACCEPT_MAJORITY, - PENALTY_KICK_FAILED: BEHAVIOR_ACCEPT_MAJORITY, - PLACEMENT_SUCCEEDED: BEHAVIOR_ACCEPT_MAJORITY, - POSSIBLE_GOAL: BEHAVIOR_ACCEPT_MAJORITY, - TOO_MANY_ROBOTS: BEHAVIOR_ACCEPT_MAJORITY, - }, - teams: - [ - AIS, - AMC, - CMμs, - ER-Force, - ibis, - ITAndroids, - Immortals, - KIKS, - KgpKubs, - MCT Susano Logics, - MIT Roboteam, - MRL, - NAELIC, - NEUIslanders, - OMID, - OP-AmP, - Parsian, - RFC Cambridge, - Ri-One, - Ri-one, - RoboDragons, - RoboFEI, - RoboIME, - RoboJackets, - RoboTeam Twente, - RobôCin, - SRC, - SSH, - STOx’s, - Sysmic Robotics, - TIGERs Mannheim, - Test Team, - Tritons RCSC, - UBC Thunderbots, - ULtron, - UMass Minutebots, - URoboRus, - Unknown, - Warthog Robotics, - ZJUNlict, - luhbots, - nAMeC, - ], - autoContinue: false, + "gameEventBehavior": { + "AIMLESS_KICK": "BEHAVIOR_ACCEPT_MAJORITY", + "ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT_MAJORITY", + "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY", + "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY", + "BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT_MAJORITY", + "BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT_MAJORITY", + "BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT_MAJORITY", + "BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT_MAJORITY", + "DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT_MAJORITY", + "DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT_MAJORITY", + "GOAL": "BEHAVIOR_ACCEPT_MAJORITY", + "INVALID_GOAL": "BEHAVIOR_ACCEPT_MAJORITY", + "KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT_MAJORITY", + "NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT_MAJORITY", + "PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT_MAJORITY", + "PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT_MAJORITY", + "POSSIBLE_GOAL": "BEHAVIOR_ACCEPT_MAJORITY", + "TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT_MAJORITY" + }, + "autoRefConfigs": { + "ER-Force": { + "gameEventBehavior": { + "AIMLESS_KICK": "BEHAVIOR_ACCEPT", + "ATTACKER_DOUBLE_TOUCHED_BALL": "BEHAVIOR_ACCEPT", + "ATTACKER_TOO_CLOSE_TO_DEFENSE_AREA": "BEHAVIOR_ACCEPT", + "ATTACKER_TOUCHED_BALL_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT", + "BALL_LEFT_FIELD_GOAL_LINE": "BEHAVIOR_ACCEPT", + "BALL_LEFT_FIELD_TOUCH_LINE": "BEHAVIOR_ACCEPT", + "BOT_CRASH_DRAWN": "BEHAVIOR_ACCEPT", + "BOT_CRASH_UNIQUE": "BEHAVIOR_ACCEPT", + "BOT_DRIBBLED_BALL_TOO_FAR": "BEHAVIOR_ACCEPT", + "BOT_HELD_BALL_DELIBERATELY": "BEHAVIOR_ACCEPT", + "BOT_INTERFERED_PLACEMENT": "BEHAVIOR_ACCEPT", + "BOT_KICKED_BALL_TOO_FAST": "BEHAVIOR_ACCEPT", + "BOT_PUSHED_BOT": "BEHAVIOR_ACCEPT", + "BOT_TIPPED_OVER": "BEHAVIOR_ACCEPT", + "BOT_TOO_FAST_IN_STOP": "BEHAVIOR_ACCEPT", + "BOUNDARY_CROSSING": "BEHAVIOR_ACCEPT", + "DEFENDER_IN_DEFENSE_AREA": "BEHAVIOR_ACCEPT", + "DEFENDER_TOO_CLOSE_TO_KICK_POINT": "BEHAVIOR_ACCEPT", + "GOAL": "BEHAVIOR_ACCEPT", + "INVALID_GOAL": "BEHAVIOR_ACCEPT", + "KEEPER_HELD_BALL": "BEHAVIOR_ACCEPT", + "NO_PROGRESS_IN_GAME": "BEHAVIOR_ACCEPT", + "PENALTY_KICK_FAILED": "BEHAVIOR_ACCEPT", + "PLACEMENT_SUCCEEDED": "BEHAVIOR_ACCEPT", + "POSSIBLE_GOAL": "BEHAVIOR_ACCEPT", + "TOO_MANY_ROBOTS": "BEHAVIOR_ACCEPT" + } + } + }, + "activeTrackerSource": "zdixwfbhdipwhaaxtiqcxwywwkekaxog", + "teams": [ + "AIS", + "AMC", + "CMμs", + "ER-Force", + "ibis", + "ITAndroids", + "Immortals", + "KIKS", + "KgpKubs", + "MCT Susano Logics", + "MIT Roboteam", + "MRL", + "NAELIC", + "NEUIslanders", + "OMID", + "OP-AmP", + "Parsian", + "RFC Cambridge", + "Ri-One", + "Ri-one", + "RoboDragons", + "RoboFEI", + "RoboIME", + "RoboJackets", + "RoboTeam Twente", + "RobôCin", + "SRC", + "SSH", + "STOx’s", + "Sysmic Robotics", + "TIGERs Mannheim", + "Test Team", + "Tritons RCSC", + "UBC Thunderbots", + "ULtron", + "UMass Minutebots", + "URoboRus", + "Unknown", + "Warthog Robotics", + "ZJUNlict", + "luhbots", + "nAMeC" + ], + "autoContinue": true } diff --git a/docker/config/state-store.json.stream b/docker/config/state-store.json.stream index 98486ce77..e69de29bb 100644 --- a/docker/config/state-store.json.stream +++ b/docker/config/state-store.json.stream @@ -1,260 +0,0 @@ -{"id":0, "statePre":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "state":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "change":{"origin":"UI", "revertible":true, "updateTeamStateChange":{"forTeam":"YELLOW", "teamName":"ibis"}}, "timestamp":"2023-09-16T07:55:56.805218996Z"} -{"id":1, "statePre":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, 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"onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "currentActionTimeRemaining":"-0.024376162s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "change":{"origin":"Engine", "revertible":false, "newGameStateChange":{"gameState":{"type":"RUNNING"}}}, "timestamp":"2023-10-07T03:15:30.225798994Z"} From 6deb8ddd0e07579014989614211c5d2039a8d781 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:36:09 +0900 Subject: [PATCH 08/21] =?UTF-8?q?GameController=E3=81=AE=E8=A8=AD=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docker/config/state-store.json.stream | 3 +++ docker/docker-compose.yaml | 4 ++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/docker/config/state-store.json.stream b/docker/config/state-store.json.stream index e69de29bb..2bdfe4e74 100644 --- a/docker/config/state-store.json.stream +++ b/docker/config/state-store.json.stream @@ -0,0 +1,3 @@ +{"id":0, "statePre":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "state":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "change":{"origin":"UI", "revertible":true, "updateTeamStateChange":{"forTeam":"YELLOW", "teamName":"ibis"}}, "timestamp":"2024-02-23T11:33:48.885221882Z"} +{"id":1, "statePre":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"Unknown", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "state":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"MRL", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "change":{"origin":"UI", "revertible":true, "updateTeamStateChange":{"forTeam":"BLUE", "teamName":"MRL"}}, "timestamp":"2024-02-23T11:33:55.231014359Z"} +{"id":2, "statePre":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"MRL", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":11, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_A", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "state":{"stage":"NORMAL_FIRST_HALF_PRE", "command":{"type":"HALT", "forTeam":"UNKNOWN"}, "gameState":{"type":"HALT"}, "stageTimeElapsed":"0s", "stageTimeLeft":"0s", "matchTimeStart":"1970-01-01T00:00:00Z", "teamState":{"BLUE":{"name":"MRL", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":false, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":6, "challengeFlags":3}, "YELLOW":{"name":"ibis", "goals":0, "goalkeeper":0, "timeoutsLeft":4, "timeoutTimeLeft":"300s", "onPositiveHalf":true, "ballPlacementFailures":0, "ballPlacementFailuresReached":false, "canPlaceBall":true, "maxAllowedBots":6, "challengeFlags":3}}, "placementPos":{"x":0, "y":0}, "nextCommand":{"type":"KICKOFF", "forTeam":"YELLOW"}, "currentActionTimeRemaining":"0s", "division":"DIV_B", "firstKickoffTeam":"YELLOW", "matchType":"UNKNOWN_MATCH"}, "change":{"origin":"UI", "revertible":true, "updateConfigChange":{"division":"DIV_B"}}, "timestamp":"2024-02-23T11:34:19.592343867Z"} diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml index 79ce3b5fa..bfb52b284 100644 --- a/docker/docker-compose.yaml +++ b/docker/docker-compose.yaml @@ -108,9 +108,9 @@ services: image: roboticserlangen/autoref:commit-5ca75e7c7883 command: - --vision-port - - 10006 + - '10006' - --gc-port - - 11003 + - '11003' network_mode: host # simulator: From 2a0372f003798da484b393aa60ff6b5262887fe6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 20:47:23 +0900 Subject: [PATCH 09/21] =?UTF-8?q?=E8=BE=9E=E6=9B=B8=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/custom_dict.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/custom_dict.json b/.github/workflows/custom_dict.json index 0804240fc..1b8a5023d 100644 --- a/.github/workflows/custom_dict.json +++ b/.github/workflows/custom_dict.json @@ -97,6 +97,7 @@ "AUTORCC", "FORCESTART", "PETG", - "Waitables" + "Waitables", + "zdixwfbhdipwhaaxtiqcxwywwkekaxog" ] } From 0e888ba5aa9a784fbf29df5b50ab31c1e332616c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 21:12:56 +0900 Subject: [PATCH 10/21] =?UTF-8?q?=E3=82=B3=E3=83=BC=E3=83=88=E3=81=AE?= =?UTF-8?q?=E9=85=8D=E7=BD=AE=E3=82=92=E8=89=B2=E3=81=A7=E3=81=AF=E3=81=AA?= =?UTF-8?q?=E3=81=8F=E3=80=81=E7=AC=A6=E5=8F=B7=E3=81=A7=E3=81=A1=E3=82=83?= =?UTF-8?q?=E3=82=93=E3=81=A8=E5=88=A4=E6=96=AD=E3=81=99=E3=82=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_msgs/msg/control/RobotCommands.msg | 1 + crane_msgs/msg/world_model/WorldModel.msg | 1 + crane_sender/src/ibis_sender_node.cpp | 2 +- crane_simple_ai/include/crane_commander.hpp | 1 + .../world_model_publisher.hpp | 2 ++ .../src/world_model_publisher.cpp | 9 +++++++++ .../src/crane_session_controller.cpp | 2 +- .../include/crane_msg_wrappers/world_model_wrapper.hpp | 8 ++++++-- 8 files changed, 22 insertions(+), 4 deletions(-) diff --git a/crane_msgs/msg/control/RobotCommands.msg b/crane_msgs/msg/control/RobotCommands.msg index 6af4cd091..59d71a996 100755 --- a/crane_msgs/msg/control/RobotCommands.msg +++ b/crane_msgs/msg/control/RobotCommands.msg @@ -1,3 +1,4 @@ std_msgs/Header header +bool on_positive_half bool is_yellow RobotCommand[] robot_commands diff --git a/crane_msgs/msg/world_model/WorldModel.msg b/crane_msgs/msg/world_model/WorldModel.msg index 126e0adca..192c6f17c 100755 --- a/crane_msgs/msg/world_model/WorldModel.msg +++ b/crane_msgs/msg/world_model/WorldModel.msg @@ -1,5 +1,6 @@ std_msgs/Header header +bool on_positive_half bool is_yellow uint8 our_goalie_id diff --git a/crane_sender/src/ibis_sender_node.cpp b/crane_sender/src/ibis_sender_node.cpp index 6b3b30e0c..0c08a342e 100644 --- a/crane_sender/src/ibis_sender_node.cpp +++ b/crane_sender/src/ibis_sender_node.cpp @@ -113,7 +113,7 @@ class IbisSenderNode : public SenderBase for (auto command : msg.robot_commands) { // - if (msg.is_yellow) { + if (not msg.on_positive_half) { command.target_velocity.x *= -1; command.target_velocity.y *= -1; command.target_velocity.theta *= -1; diff --git a/crane_simple_ai/include/crane_commander.hpp b/crane_simple_ai/include/crane_commander.hpp index 59529597c..8075649b8 100644 --- a/crane_simple_ai/include/crane_commander.hpp +++ b/crane_simple_ai/include/crane_commander.hpp @@ -111,6 +111,7 @@ class ROSNode : public rclcpp::Node crane_msgs::msg::RobotCommands msg; msg.header = world_model->getMsg().header; msg.is_yellow = world_model->isYellow(); + msg.on_positive_half = world_model->onPositiveHalf(); msg.robot_commands.push_back(latest_msg); publisher_robot_commands->publish(msg); }); diff --git a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp index 9393990cc..3807c65ec 100644 --- a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp +++ b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp @@ -91,6 +91,8 @@ class WorldModelPublisherComponent : public rclcpp::Node Color their_color; + bool on_positive_half; + uint8_t our_goalie_id, their_goalie_id; uint8_t max_id; diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp index db8131fed..6bb434dd7 100644 --- a/crane_world_model_publisher/src/world_model_publisher.cpp +++ b/crane_world_model_publisher/src/world_model_publisher.cpp @@ -41,15 +41,23 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt sub_referee = this->create_subscription( "/referee", 1, [this](const robocup_ssl_msgs::msg::Referee & msg) { if (msg.yellow.name == team_name) { + // YELLOW our_color = Color::YELLOW; their_color = Color::BLUE; our_goalie_id = msg.yellow.goalkeeper; their_goalie_id = msg.blue.goalkeeper; + if (not msg.blue_team_on_positive_half.empty()) { + on_positive_half = not msg.blue_team_on_positive_half[0]; + } } else if (msg.blue.name == team_name) { + // BLUE our_color = Color::BLUE; their_color = Color::YELLOW; our_goalie_id = msg.blue.goalkeeper; their_goalie_id = msg.yellow.goalkeeper; + if (not msg.blue_team_on_positive_half.empty()) { + on_positive_half = msg.blue_team_on_positive_half[0]; + } } else { std::stringstream what; what << "Cannot find our team name, " << team_name << " in referee message. "; @@ -163,6 +171,7 @@ void WorldModelPublisherComponent::publishWorldModel() crane_msgs::msg::WorldModel wm; wm.is_yellow = (our_color == Color::YELLOW); + wm.on_positive_half = on_positive_half; wm.ball_info = ball_info; updateBallContact(); diff --git a/session/crane_session_controller/src/crane_session_controller.cpp b/session/crane_session_controller/src/crane_session_controller.cpp index 70e8a53b7..c5db79858 100644 --- a/session/crane_session_controller/src/crane_session_controller.cpp +++ b/session/crane_session_controller/src/crane_session_controller.cpp @@ -142,7 +142,7 @@ SessionControllerComponent::SessionControllerComponent(const rclcpp::NodeOptions world_model->addCallback([this]() { crane_msgs::msg::RobotCommands msg; msg.header = world_model->getMsg().header; - msg.is_yellow = world_model->isYellow(); + msg.on_positive_half = world_model->onPositiveHalf(); for (const auto & planner : available_planners) { auto commands_msg = planner->getRobotCommands(); msg.robot_commands.insert( diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp index 03c03e72b..cbb405c6b 100644 --- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp +++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/world_model_wrapper.hpp @@ -257,9 +257,9 @@ struct WorldModelWrapper defense_area_size << world_model.defense_area_size.x, world_model.defense_area_size.y; goal_size << world_model.goal_size.x, world_model.goal_size.y; - goal << (isYellow() ? field_size.x() * 0.5 : -field_size.x() * 0.5), 0.; + goal << getOurSideSign() * field_size.x() * 0.5, 0.; - if (goal.x() > 0) { + if (onPositiveHalf()) { ours.defense_area.max_corner() << goal.x(), goal.y() + world_model.defense_area_size.y / 2.; ours.defense_area.min_corner() << goal.x() - world_model.defense_area_size.x, goal.y() - world_model.defense_area_size.y / 2.; @@ -278,6 +278,10 @@ struct WorldModelWrapper [[nodiscard]] const crane_msgs::msg::WorldModel & getMsg() const { return latest_msg; } + [[nodiscard]] bool onPositiveHalf() const { return (latest_msg.on_positive_half); } + + [[nodiscard]] double getOurSideSign() const { return onPositiveHalf() ? 1.0 : -1.0; } + [[nodiscard]] bool isYellow() const { return (latest_msg.is_yellow); } [[nodiscard]] bool hasUpdated() const { return has_updated; } From 7a87826a4c312c9b78939ccc1831bbb101385cd1 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 21:16:48 +0900 Subject: [PATCH 11/21] =?UTF-8?q?=E3=83=A1=E3=83=B3=E3=83=90=E5=A4=89?= =?UTF-8?q?=E6=95=B0=E3=81=AE=E5=88=9D=E6=9C=9F=E5=8C=96=E9=A0=86=E3=82=92?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_robot_receiver/src/robot_receiver_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/crane_robot_receiver/src/robot_receiver_node.cpp b/crane_robot_receiver/src/robot_receiver_node.cpp index 11373fedc..3d6dda6a2 100644 --- a/crane_robot_receiver/src/robot_receiver_node.cpp +++ b/crane_robot_receiver/src/robot_receiver_node.cpp @@ -1,4 +1,4 @@ -// Copyright (c) 2022 ibis-ssl +// Copyright (c) 2024 ibis-ssl // // Use of this source code is governed by an MIT-style // license that can be found in the LICENSE file or at @@ -60,7 +60,7 @@ class MulticastReceiver { public: MulticastReceiver(const std::string & host, const int port) - : socket(io_service, boost::asio::ip::udp::v4()), buffer(2048), robot_id(port - 50100) + : robot_id(port - 50100), socket(io_service, boost::asio::ip::udp::v4()), buffer(2048) { boost::asio::ip::address addr = boost::asio::ip::address::from_string(host); if (!addr.is_multicast()) { From 2179e26fe9dafca34a633b816b70b2b78e703780 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 21:44:22 +0900 Subject: [PATCH 12/21] =?UTF-8?q?=E8=AD=A6=E5=91=8A=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_robot_skills/idle.hpp | 3 +- .../crane_robot_skills/kickoff_attack.hpp | 5 +- .../crane_robot_skills/kickoff_support.hpp | 3 +- .../include/crane_robot_skills/marker.hpp | 3 +- .../crane_robot_skills/move_to_geometry.hpp | 3 +- .../crane_robot_skills/penalty_kick.hpp | 9 ++- .../include/crane_robot_skills/skill_base.hpp | 4 +- .../include/crane_robot_skills/sleep.hpp | 3 +- .../crane_robot_skills/turn_around_point.hpp | 3 +- crane_robot_skills/src/get_ball_contact.cpp | 3 +- crane_robot_skills/src/go_over_ball.cpp | 3 +- crane_robot_skills/src/goalie.cpp | 3 +- crane_robot_skills/src/move_with_ball.cpp | 3 +- crane_robot_skills/src/receiver.cpp | 3 +- .../src/robot_command_as_skill.cpp | 75 ++++++++++++------- crane_robot_skills/src/simple_attacker.cpp | 3 +- .../src/single_ball_placement.cpp | 12 +-- .../crane_planner_base/planner_base.hpp | 4 +- .../attacker_planner.hpp | 3 +- .../defender_planner.hpp | 3 +- .../formation_planner.hpp | 3 +- .../crane_planner_plugins/marker_planner.hpp | 3 +- .../our_kickoff_planner.hpp | 3 +- .../our_penalty_kick_planner.hpp | 3 +- .../crane_planner_plugins/receive_planner.hpp | 46 ++++++------ .../crane_planner_plugins/skill_planner.hpp | 3 +- .../template_planner.hpp | 3 +- .../temporary/ball_placement_planner.hpp | 3 +- .../their_penalty_kick_planner.hpp | 3 +- .../tigers_goalie_planner.hpp | 3 +- .../crane_planner_plugins/waiter_planner.hpp | 3 +- .../play_situation_wrapper.hpp | 2 +- 32 files changed, 139 insertions(+), 90 deletions(-) diff --git a/crane_robot_skills/include/crane_robot_skills/idle.hpp b/crane_robot_skills/include/crane_robot_skills/idle.hpp index d18dd765b..d36ac1164 100644 --- a/crane_robot_skills/include/crane_robot_skills/idle.hpp +++ b/crane_robot_skills/include/crane_robot_skills/idle.hpp @@ -21,7 +21,8 @@ class Idle : public SkillBase<> { setParameter("stop_by_position", true); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { // TODO(HansRobo): モーターをOFFにするようにしたほうがバッテリーに優しいかも if (getParameter("stop_by_position")) { command->stopHere(); diff --git a/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp b/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp index d0eca864b..8c8ac6612 100644 --- a/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp +++ b/crane_robot_skills/include/crane_robot_skills/kickoff_attack.hpp @@ -29,7 +29,7 @@ class KickoffAttack : public SkillBase setParameter("kick_power", 0.5); addStateFunction( KickoffAttackState::PREPARE_KICKOFF, - [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not go_over_ball) { go_over_ball = std::make_shared(robot->id, world_model); go_over_ball->setCommander(command); @@ -46,7 +46,8 @@ class KickoffAttack : public SkillBase [this]() -> bool { return go_over_ball_status == Status::SUCCESS; }); addStateFunction( - KickoffAttackState::KICKOFF, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + KickoffAttackState::KICKOFF, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setMaxVelocity(0.5); command->kickStraight(getParameter("kick_power")); command->setTargetPosition(world_model->ball.pos); diff --git a/crane_robot_skills/include/crane_robot_skills/kickoff_support.hpp b/crane_robot_skills/include/crane_robot_skills/kickoff_support.hpp index 686b3f17d..db2ab0496 100644 --- a/crane_robot_skills/include/crane_robot_skills/kickoff_support.hpp +++ b/crane_robot_skills/include/crane_robot_skills/kickoff_support.hpp @@ -22,7 +22,8 @@ class KickoffSupport : public SkillBase<> setParameter("target_x", 0.0f); setParameter("target_y", 1.0f); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target(getParameter("target_x"), getParameter("target_y")); command->setTargetPosition(target); command->lookAtBallFrom(target); diff --git a/crane_robot_skills/include/crane_robot_skills/marker.hpp b/crane_robot_skills/include/crane_robot_skills/marker.hpp index 7f0b47e67..4f4a79d24 100644 --- a/crane_robot_skills/include/crane_robot_skills/marker.hpp +++ b/crane_robot_skills/include/crane_robot_skills/marker.hpp @@ -28,7 +28,8 @@ class Marker : public SkillBase<> setParameter("mark_distance", 0.5); setParameter("mark_mode", "save_goal"); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { auto marked_robot = world_model->getTheirRobot(getParameter("marking_robot_id")); auto enemy_pos = marked_robot->pose.pos; diff --git a/crane_robot_skills/include/crane_robot_skills/move_to_geometry.hpp b/crane_robot_skills/include/crane_robot_skills/move_to_geometry.hpp index 45dc91e64..99aa53ed7 100644 --- a/crane_robot_skills/include/crane_robot_skills/move_to_geometry.hpp +++ b/crane_robot_skills/include/crane_robot_skills/move_to_geometry.hpp @@ -25,7 +25,8 @@ class MoveToGeometry : public SkillBase<> { setParameter("reach_threshold", 0.1); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if ((robot->pose.pos - getTargetPoint()).norm() < getParameter("reach_threshold")) { return Status::SUCCESS; } else { diff --git a/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp b/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp index b74d76829..f672b8f22 100644 --- a/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp +++ b/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp @@ -33,7 +33,8 @@ class PenaltyKick : public SkillBase setParameter("start_from_kick", false); setParameter("prepare_margin", 0.6); addStateFunction( - PenaltyKickState::PREPARE, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + PenaltyKickState::PREPARE, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target = world_model->ball.pos; auto margin = getParameter("prepare_margin"); target.x() += world_model->getOurGoalCenter().x() > 0 ? margin : -margin; @@ -51,7 +52,8 @@ class PenaltyKick : public SkillBase } }); addStateFunction( - PenaltyKickState::KICK, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + PenaltyKickState::KICK, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not start_ball_point) { start_ball_point = world_model->ball.pos; } @@ -91,7 +93,8 @@ class PenaltyKick : public SkillBase }); addStateFunction( - PenaltyKickState::DONE, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + PenaltyKickState::DONE, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->stopHere(); return Status::RUNNING; }); diff --git a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp index 22abf2ef0..dc9ae2af4 100644 --- a/crane_robot_skills/include/crane_robot_skills/skill_base.hpp +++ b/crane_robot_skills/include/crane_robot_skills/skill_base.hpp @@ -95,7 +95,7 @@ class SkillInterface const std::string name; virtual Status run( - ConsaiVisualizerWrapper::SharedPtr visualizer, + const ConsaiVisualizerWrapper::SharedPtr & visualizer, std::optional> parameters_opt = std::nullopt) = 0; @@ -174,7 +174,7 @@ class SkillBase : public SkillInterface } Status run( - ConsaiVisualizerWrapper::SharedPtr visualizer, + const ConsaiVisualizerWrapper::SharedPtr & visualizer, std::optional> parameters_opt = std::nullopt) override { diff --git a/crane_robot_skills/include/crane_robot_skills/sleep.hpp b/crane_robot_skills/include/crane_robot_skills/sleep.hpp index 073418fe6..62034ad16 100644 --- a/crane_robot_skills/include/crane_robot_skills/sleep.hpp +++ b/crane_robot_skills/include/crane_robot_skills/sleep.hpp @@ -21,7 +21,8 @@ class Sleep : public SkillBase<> { setParameter("duration", 0.0); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not is_started) { start_time = std::chrono::steady_clock::now(); is_started = true; diff --git a/crane_robot_skills/include/crane_robot_skills/turn_around_point.hpp b/crane_robot_skills/include/crane_robot_skills/turn_around_point.hpp index 589d34711..57e006304 100644 --- a/crane_robot_skills/include/crane_robot_skills/turn_around_point.hpp +++ b/crane_robot_skills/include/crane_robot_skills/turn_around_point.hpp @@ -32,7 +32,8 @@ class TurnAroundPoint : public SkillBase<> setParameter("max_velocity", 0.5); setParameter("max_turn_omega", M_PI_4); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target_point(getParameter("target_x"), getParameter("target_y")); double target_angle = getParameter("target_angle"); if (target_distance < 0.0) { diff --git a/crane_robot_skills/src/get_ball_contact.cpp b/crane_robot_skills/src/get_ball_contact.cpp index 1eee31205..c492485c4 100644 --- a/crane_robot_skills/src/get_ball_contact.cpp +++ b/crane_robot_skills/src/get_ball_contact.cpp @@ -14,7 +14,8 @@ GetBallContact::GetBallContact(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { // 規定時間以上接していたらOK std::cout << "ContactDuration: " << std::chrono::duration_cast( diff --git a/crane_robot_skills/src/go_over_ball.cpp b/crane_robot_skills/src/go_over_ball.cpp index 7ddf62340..5d500bd7c 100644 --- a/crane_robot_skills/src/go_over_ball.cpp +++ b/crane_robot_skills/src/go_over_ball.cpp @@ -16,7 +16,8 @@ GoOverBall::GoOverBall(uint8_t id, const std::shared_ptr & wm setParameter("margin", 0.5); setParameter("reach_threshold", 0.05); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not has_started) { Point next_target{ getParameter("next_target_x"), getParameter("next_target_y")}; diff --git a/crane_robot_skills/src/goalie.cpp b/crane_robot_skills/src/goalie.cpp index b6d8808c3..94b2a0a72 100644 --- a/crane_robot_skills/src/goalie.cpp +++ b/crane_robot_skills/src/goalie.cpp @@ -13,7 +13,8 @@ Goalie::Goalie(uint8_t id, const std::shared_ptr & wm) { setParameter("run_inplay", true); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { auto situation = world_model->play_situation.getSituationCommandID(); if (getParameter("run_inplay")) { situation = crane_msgs::msg::PlaySituation::INPLAY; diff --git a/crane_robot_skills/src/move_with_ball.cpp b/crane_robot_skills/src/move_with_ball.cpp index fd742829f..accf05f38 100644 --- a/crane_robot_skills/src/move_with_ball.cpp +++ b/crane_robot_skills/src/move_with_ball.cpp @@ -26,7 +26,8 @@ MoveWithBall::MoveWithBall(uint8_t id, const std::shared_ptr setParameter("dribble_target_horizon", 0.2); setParameter("ball_stabilizing_time", 0.5); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setMaxVelocity(0.5); auto target_pos = parseTargetPoint(); command->setDribblerTargetPosition(target_pos); diff --git a/crane_robot_skills/src/receiver.cpp b/crane_robot_skills/src/receiver.cpp index e85bab117..3f933186c 100644 --- a/crane_robot_skills/src/receiver.cpp +++ b/crane_robot_skills/src/receiver.cpp @@ -17,7 +17,8 @@ Receiver::Receiver(uint8_t id, const std::shared_ptr & wm) setParameter("ball_vel_threshold", 0.5); setParameter("kicker_power", 0.7); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { auto dpps_points = getDPPSPoints(this->world_model->ball.pos, 0.25, 16); // モード判断 // こちらへ向かう速度成分 diff --git a/crane_robot_skills/src/robot_command_as_skill.cpp b/crane_robot_skills/src/robot_command_as_skill.cpp index e5582c941..4a5a01d6b 100644 --- a/crane_robot_skills/src/robot_command_as_skill.cpp +++ b/crane_robot_skills/src/robot_command_as_skill.cpp @@ -9,16 +9,17 @@ namespace crane::skills { -#define ONE_FRAME_IMPLEMENTATION(name, method) \ - Cmd##name::Cmd##name(uint8_t id, const std::shared_ptr & wm) \ - : SkillBase<>("Cmd" #name, id, world_model, DefaultStates::DEFAULT) \ - { \ - addStateFunction( \ - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { \ - command->method; \ - return Status::SUCCESS; \ - }); \ - } \ +#define ONE_FRAME_IMPLEMENTATION(name, method) \ + Cmd##name::Cmd##name(uint8_t id, const std::shared_ptr & wm) \ + : SkillBase<>("Cmd" #name, id, world_model, DefaultStates::DEFAULT) \ + { \ + addStateFunction( \ + DefaultStates::DEFAULT, \ + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { \ + command->method; \ + return Status::SUCCESS; \ + }); \ + } \ void Cmd##name::print(std::ostream & os) const {} CmdKickWithChip::CmdKickWithChip(uint8_t id, const std::shared_ptr & wm) @@ -26,7 +27,8 @@ CmdKickWithChip::CmdKickWithChip(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->kickWithChip(getParameter("power")); return Status::SUCCESS; }); @@ -43,7 +45,8 @@ CmdKickStraight::CmdKickStraight(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->kickStraight(getParameter("power")); return Status::SUCCESS; }); @@ -60,7 +63,8 @@ CmdDribble::CmdDribble(uint8_t id, const std::shared_ptr & wm { setParameter("power", 0.5); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->dribble(getParameter("power")); return Status::SUCCESS; }); @@ -78,7 +82,8 @@ CmdSetVelocity::CmdSetVelocity(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setVelocity(getParameter("x"), getParameter("y")); return Status::SUCCESS; }); @@ -98,7 +103,8 @@ CmdSetTargetPosition::CmdSetTargetPosition( setParameter("reach_threshold", 0.1); setParameter("exit_immediately", false); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target{getParameter("x"), getParameter("y")}; command->setTargetPosition(target); if (getParameter("exit_immediately")) { @@ -128,7 +134,8 @@ CmdSetDribblerTargetPosition::CmdSetDribblerTargetPosition( setParameter("reach_threshold", 0.1); setParameter("exit_immediately", false); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target{getParameter("x"), getParameter("y")}; command->setDribblerTargetPosition(target); if (getParameter("exit_immediately")) { @@ -155,7 +162,8 @@ CmdSetTargetTheta::CmdSetTargetTheta(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setTargetTheta(getParameter("theta")); return Status::SUCCESS; }); @@ -170,7 +178,8 @@ CmdStopHere::CmdStopHere(uint8_t id, const std::shared_ptr & : SkillBase<>("CmdStopHere", id, wm, DefaultStates::DEFAULT) { addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->stopHere(); return Status::SUCCESS; }); @@ -195,7 +204,8 @@ CmdSetMaxVelocity::CmdSetMaxVelocity(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setMaxVelocity(getParameter("max_velocity")); return Status::SUCCESS; }); @@ -212,7 +222,8 @@ CmdSetMaxAcceleration::CmdSetMaxAcceleration( { setParameter("max_acceleration", 0.5); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setMaxAcceleration(getParameter("max_acceleration")); return Status::SUCCESS; }); @@ -228,7 +239,8 @@ CmdSetMaxOmega::CmdSetMaxOmega(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setMaxOmega(getParameter("max_omega")); return Status::SUCCESS; }); @@ -245,7 +257,8 @@ CmdSetTerminalVelocity::CmdSetTerminalVelocity( { setParameter("terminal_velocity", 0.5); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->setTerminalVelocity(getParameter("terminal_velocity")); return Status::SUCCESS; }); @@ -260,7 +273,8 @@ CmdEnableStopFlag::CmdEnableStopFlag(uint8_t id, const std::shared_ptr("CmdEnableStopFlag ", id, wm, DefaultStates::DEFAULT) { addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->stopEmergency(true); return Status::SUCCESS; }); @@ -272,7 +286,8 @@ CmdDisableStopFlag::CmdDisableStopFlag(uint8_t id, const std::shared_ptr("CmdDisableStopFlag", id, wm, DefaultStates::DEFAULT) { addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->stopEmergency(false); return Status::SUCCESS; }); @@ -285,7 +300,8 @@ CmdLiftUpDribbler::CmdLiftUpDribbler(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->liftUpDribbler(getParameter("enable")); return Status::SUCCESS; }); @@ -302,7 +318,8 @@ CmdLookAt::CmdLookAt(uint8_t id, const std::shared_ptr & wm) setParameter("x", 0.0); setParameter("y", 0.0); addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target{getParameter("x"), getParameter("y")}; command->lookAt(target); return Status::SUCCESS; @@ -318,7 +335,8 @@ CmdLookAtBall::CmdLookAtBall(uint8_t id, const std::shared_ptr("CmdLookAtBall", id, wm, DefaultStates::DEFAULT) { addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { command->lookAtBall(); return Status::SUCCESS; }); @@ -332,7 +350,8 @@ CmdLookAtBallFrom::CmdLookAtBallFrom(uint8_t id, const std::shared_ptr Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { Point target{getParameter("x"), getParameter("y")}; command->lookAtBallFrom(target); return Status::SUCCESS; diff --git a/crane_robot_skills/src/simple_attacker.cpp b/crane_robot_skills/src/simple_attacker.cpp index fcd63a46e..d1fb01e68 100644 --- a/crane_robot_skills/src/simple_attacker.cpp +++ b/crane_robot_skills/src/simple_attacker.cpp @@ -12,7 +12,8 @@ SimpleAttacker::SimpleAttacker(uint8_t id, const std::shared_ptr("SimpleAttacker", id, wm, DefaultStates::DEFAULT) { addStateFunction( - DefaultStates::DEFAULT, [this](ConsaiVisualizerWrapper::SharedPtr visualizer) -> Status { + DefaultStates::DEFAULT, + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { auto [best_angle, goal_angle_width] = world_model->getLargestGoalAngleRangeFromPoint(world_model->ball.pos); Point best_target = world_model->ball.pos + getNormVec(best_angle) * 0.5; diff --git a/crane_robot_skills/src/single_ball_placement.cpp b/crane_robot_skills/src/single_ball_placement.cpp index 1e9e446ec..d3b11d482 100644 --- a/crane_robot_skills/src/single_ball_placement.cpp +++ b/crane_robot_skills/src/single_ball_placement.cpp @@ -17,7 +17,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not go_over_ball) { go_over_ball = std::make_shared(robot->id, world_model); go_over_ball->setCommander(command); @@ -37,7 +37,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not get_ball_contact) { get_ball_contact = std::make_shared(robot->id, world_model); get_ball_contact->setCommander(command); @@ -54,7 +54,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not move_with_ball) { move_with_ball = std::make_shared(robot->id, world_model); move_with_ball->setCommander(command); @@ -73,7 +73,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not sleep) { sleep = std::make_shared(robot->id, world_model); sleep->setCommander(command); @@ -88,7 +88,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not sleep) { sleep = std::make_shared(robot->id, world_model); sleep->setCommander(command); @@ -104,7 +104,7 @@ SingleBallPlacement::SingleBallPlacement(uint8_t id, const std::shared_ptr Status { + [this](const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status { if (not set_target_position) { set_target_position = std::make_shared(robot->id, world_model); set_target_position->setCommander(command); diff --git a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp index 1a6c7fa13..7de5d8c43 100644 --- a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp +++ b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp @@ -38,7 +38,7 @@ class PlannerBase explicit PlannerBase( const std::string name, WorldModelWrapper::SharedPtr & world_model, - ConsaiVisualizerWrapper::SharedPtr visualizer) + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : name(name), world_model(world_model), visualizer(visualizer) { RCLCPP_INFO(rclcpp::get_logger(name), "PlannerBase::PlannerBase"); @@ -121,7 +121,7 @@ class PlannerBase virtual std::pair> calculateRobotCommand( const std::vector & robots) = 0; - ConsaiVisualizerWrapper::SharedPtr visualizer; + const ConsaiVisualizerWrapper::SharedPtr & visualizer; Status status = Status::RUNNING; diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp index d2a845f58..db541e2c3 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp @@ -29,7 +29,8 @@ class AttackerPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit AttackerPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("attacker", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/defender_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/defender_planner.hpp index d3272cb3e..93826b82c 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/defender_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/defender_planner.hpp @@ -29,7 +29,8 @@ class DefenderPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit DefenderPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("defender", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp index 2fb536cce..75f4d2035 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/formation_planner.hpp @@ -28,7 +28,8 @@ class FormationPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit FormationPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("formation", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp index b55b47d6f..431d72952 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/marker_planner.hpp @@ -29,7 +29,8 @@ class MarkerPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit MarkerPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("marker", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp index 36e1b8635..8e10eeb24 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/our_kickoff_planner.hpp @@ -32,7 +32,8 @@ class OurKickOffPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit OurKickOffPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("our_kickoff_planner", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp index 998451368..978e319a8 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp @@ -32,7 +32,8 @@ class OurPenaltyKickPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit OurPenaltyKickPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("OurPenaltyKickPlanner", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/receive_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/receive_planner.hpp index 15c116f51..1fcde2320 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/receive_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/receive_planner.hpp @@ -57,12 +57,13 @@ class ReceivePlanner : public PlannerBase Point receiver_pos; - double score; + double score = 0.0; }; COMPOSITION_PUBLIC explicit ReceivePlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("receive", world_model, visualizer) { // world_model->addCallback( @@ -80,7 +81,7 @@ class ReceivePlanner : public PlannerBase crane::RobotCommandWrapper target(robot.robot_id, world_model); // モード判断 // こちらへ向かう速度成分 - float ball_vel = + auto ball_vel = world_model->ball.vel.dot((robot_info->pose.pos - world_model->ball.pos).normalized()); target.kickStraight(0.7); if (ball_vel > 0.5) { @@ -166,7 +167,7 @@ class ReceivePlanner : public PlannerBase }); } - auto getPassResponse(const std::shared_ptr request) + auto getPassResponse(const std::shared_ptr & request) -> crane_msgs::srv::PassRequest::Response { // RCLCPP_INFO(get_logger(), "receive pass request!"); @@ -175,7 +176,7 @@ class ReceivePlanner : public PlannerBase auto & ball = world_model->ball; auto pos = world_model->ours.robots.at(pass_info.passer_id.data)->pose.pos; // こちらへ向かう速度成分 - float ball_vel = ball.vel.dot((pos - ball.pos).normalized()); + auto ball_vel = ball.vel.dot((pos - ball.pos).normalized()); Segment ball_line(ball.pos, (ball.pos + ball.vel.normalized() * (ball.pos - pos).norm())); Point target; if (ball_vel > 0.5f) { @@ -195,9 +196,7 @@ class ReceivePlanner : public PlannerBase recv_pos.z = 0.0; // pass_info_pub->publish(pass_info); - RobotIdentifier receiver_id; - receiver_id.is_ours = true; - receiver_id.robot_id = pass_info.receiver_id.data; + RobotIdentifier receiver_id{true, static_cast(pass_info.receiver_id.data)}; auto receiver = world_model->getRobot(receiver_id); // if (!receiver) { // return; @@ -206,7 +205,7 @@ class ReceivePlanner : public PlannerBase std::vector positions_with_score; auto receive_pos_candidates = getPoints(receiver->pose.pos, 0.05, 20); - for (auto receive_pos : receive_pos_candidates) { + for (const auto & receive_pos : receive_pos_candidates) { auto pos_score = getPositionsWithScore(ball_line, receive_pos); auto max_score_pos = std::max_element( pos_score.begin(), pos_score.end(), @@ -238,7 +237,8 @@ class ReceivePlanner : public PlannerBase return response; } - std::pair calcRobotsTargetAngle(PositionsWithScore record, Segment ball_line) + std::pair calcRobotsTargetAngle( + const PositionsWithScore & record, const Segment & ball_line) { std::pair ret; // calculate passer angle @@ -252,21 +252,22 @@ class ReceivePlanner : public PlannerBase return ret; } - std::vector> getPositionsWithScore(Segment ball_line, Point next_target) + [[nodiscard]] std::vector> getPositionsWithScore( + const Segment & ball_line, const Point & next_target) const { auto points = getPoints(ball_line, 0.05); std::vector> position_with_score; - for (auto point : points) { + for (const auto & point : points) { double score = getPointScore(point, next_target); - position_with_score.push_back(std::make_pair(score, point)); + position_with_score.emplace_back(score, point); } return position_with_score; } - std::vector getPoints(Segment ball_line, double interval) + [[nodiscard]] std::vector getPoints(const Segment & ball_line, double interval) const { std::vector points; - float ball_line_len = (ball_line.first - ball_line.second).norm(); + double ball_line_len = (ball_line.first - ball_line.second).norm(); auto norm_vec = (ball_line.second - ball_line.first).normalized(); for (double d = 0.0; d <= ball_line_len; d += interval) { points.emplace_back(ball_line.first + d * norm_vec); @@ -274,26 +275,27 @@ class ReceivePlanner : public PlannerBase return points; } - std::vector getPoints(Point center, float unit, int unit_num) + [[nodiscard]] std::vector getPoints(const Point & center, double unit, int unit_num) const { std::vector points; - for (float x = center.x() - unit * (unit_num / 2.f); x <= center.x() + unit * (unit_num / 2.f); + for (double x = center.x() - unit * (unit_num / 2.f); x <= center.x() + unit * (unit_num / 2.f); x += unit) { - for (float y = center.y() - unit * (unit_num / 2.f); + for (double y = center.y() - unit * (unit_num / 2.f); y <= center.y() + unit * (unit_num / 2.f); y += unit) { - points.emplace_back(Point(x, y)); + points.emplace_back(x, y); } } return points; } - std::vector getDPPSPoints(Point center, double r_resolution, int theta_div_num) + [[nodiscard]] std::vector getDPPSPoints( + Point center, double r_resolution, int theta_div_num) const { std::vector points; for (int theta_index = 0; theta_index < theta_div_num; theta_index++) { double theta = 2.0 * M_PI * theta_index / theta_div_num; for (double r = r_resolution; r <= 10.0; r += r_resolution) { - points.emplace_back(Point(center.x() + r * cos(theta), center.y() + r * sin(theta))); + points.emplace_back(center.x() + r * cos(theta), center.y() + r * sin(theta)); } } points.erase( @@ -307,7 +309,7 @@ class ReceivePlanner : public PlannerBase return points; } - double getPointScore(Point p, Point next_target) + [[nodiscard]] double getPointScore(const Point & p, const Point & next_target) const { double nearest_dist; RobotIdentifier receiver{true, static_cast(session_info.receiver_id)}; diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp index 58772e9d0..c1dc68bfc 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp @@ -30,7 +30,8 @@ namespace crane std::shared_ptr skill = nullptr; \ std::shared_ptr robot_command_wrapper = nullptr; \ COMPOSITION_PUBLIC explicit CLASS_NAME##SkillPlanner( \ - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) \ + WorldModelWrapper::SharedPtr & world_model, \ + const ConsaiVisualizerWrapper::SharedPtr & visualizer) \ : PlannerBase(#CLASS_NAME, world_model, visualizer) \ { \ } \ diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/template_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/template_planner.hpp index c832b09f8..68fabdb43 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/template_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/template_planner.hpp @@ -26,7 +26,8 @@ class TemplatePlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit TemplatePlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("template", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp index 64f6b778f..ec4cc4de5 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/temporary/ball_placement_planner.hpp @@ -38,7 +38,8 @@ class BallPlacementPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit BallPlacementPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("ball_placement", world_model, visualizer) { addRobotSelectCallback([&]() { state = BallPlacementState::START; }); diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp index 45b3693cb..9e14d1929 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp @@ -33,7 +33,8 @@ class TheirPenaltyKickPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit TheirPenaltyKickPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("TheirPenaltyKickPlanner", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/tigers_goalie_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/tigers_goalie_planner.hpp index fc2b085c1..90dc4d591 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/tigers_goalie_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/tigers_goalie_planner.hpp @@ -40,7 +40,8 @@ class TigersGoaliePlanner : public PlannerBase COMPOSITION_PUBLIC explicit TigersGoaliePlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("tigers_goalie", world_model, visualizer) { } diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/waiter_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/waiter_planner.hpp index b400d46ec..f36bcef37 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/waiter_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/waiter_planner.hpp @@ -26,7 +26,8 @@ class WaiterPlanner : public PlannerBase public: COMPOSITION_PUBLIC explicit WaiterPlanner( - WorldModelWrapper::SharedPtr & world_model, ConsaiVisualizerWrapper::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("waiter", world_model, visualizer) { } diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp index c7f5e26ee..ffad6a3c4 100644 --- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp +++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/play_situation_wrapper.hpp @@ -24,7 +24,7 @@ struct PlaySituationWrapper std::string text; }; - auto isInplay() -> bool const + auto isInplay() const -> bool { return situation_command.id == crane_msgs::msg::PlaySituation::INPLAY; } From c8f1f0ffdd4287d5b5896040e0d3abd81bd6f018 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 22:20:32 +0900 Subject: [PATCH 13/21] =?UTF-8?q?=E8=AD=A6=E5=91=8A=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_local_planner/gridmap_planner.hpp | 3 +++ crane_robot_skills/src/robot_command_as_skill.cpp | 3 --- crane_simple_ai/include/crane_commander.hpp | 11 ++++------- crane_simple_ai/src/crane_commander.cpp | 8 ++++---- crane_simple_ai/src/simple_ai_node.cpp | 2 +- .../world_model_publisher.hpp | 4 ++-- .../src/world_model_publisher.cpp | 4 ++-- 7 files changed, 16 insertions(+), 19 deletions(-) diff --git a/crane_local_planner/include/crane_local_planner/gridmap_planner.hpp b/crane_local_planner/include/crane_local_planner/gridmap_planner.hpp index 17d4bb2c8..9e7c536a8 100644 --- a/crane_local_planner/include/crane_local_planner/gridmap_planner.hpp +++ b/crane_local_planner/include/crane_local_planner/gridmap_planner.hpp @@ -127,6 +127,9 @@ class GridMapPlanner message = grid_map::GridMapRosConverter::toMessage(map); gridmap_publisher->publish(std::move(message)); + + // TODO(HansRobo): implement + return crane_msgs::msg::RobotCommands(); } private: diff --git a/crane_robot_skills/src/robot_command_as_skill.cpp b/crane_robot_skills/src/robot_command_as_skill.cpp index 4a5a01d6b..716a5fe5e 100644 --- a/crane_robot_skills/src/robot_command_as_skill.cpp +++ b/crane_robot_skills/src/robot_command_as_skill.cpp @@ -37,7 +37,6 @@ CmdKickWithChip::CmdKickWithChip(uint8_t id, const std::shared_ptr("power"); - ; } CmdKickStraight::CmdKickStraight(uint8_t id, const std::shared_ptr & wm) @@ -55,7 +54,6 @@ CmdKickStraight::CmdKickStraight(uint8_t id, const std::shared_ptr("power"); - ; } CmdDribble::CmdDribble(uint8_t id, const std::shared_ptr & wm) @@ -73,7 +71,6 @@ CmdDribble::CmdDribble(uint8_t id, const std::shared_ptr & wm void CmdDribble::print(std::ostream & os) const { os << "[CmdDribble] power: " << getParameter("power"); - ; } CmdSetVelocity::CmdSetVelocity(uint8_t id, const std::shared_ptr & wm) diff --git a/crane_simple_ai/include/crane_commander.hpp b/crane_simple_ai/include/crane_commander.hpp index 8075649b8..023815fb7 100644 --- a/crane_simple_ai/include/crane_commander.hpp +++ b/crane_simple_ai/include/crane_commander.hpp @@ -74,7 +74,7 @@ struct Task std::chrono::time_point start_time; - bool retry() + bool retry() const { if (retry_time <= 0.0) { return false; @@ -103,9 +103,8 @@ class ROSNode : public rclcpp::Node create_publisher("/control_targets", 10); subscription_robot_feedback = create_subscription( - "/robot_feedback", 10, [&](const crane_msgs::msg::RobotFeedbackArray::SharedPtr msg) { - robot_feedback_array = *msg; - }); + "/robot_feedback", 10, + [&](const crane_msgs::msg::RobotFeedbackArray & msg) { robot_feedback_array = msg; }); timer = create_wall_timer(std::chrono::milliseconds(33), [&]() { crane_msgs::msg::RobotCommands msg; @@ -123,8 +122,6 @@ class ROSNode : public rclcpp::Node robot_id = id; } - ~ROSNode() {} - crane::WorldModelWrapper::SharedPtr world_model; uint8_t robot_id = 0; @@ -149,7 +146,7 @@ class CraneCommander : public QMainWindow public: explicit CraneCommander(QWidget * parent = nullptr); - ~CraneCommander(); + ~CraneCommander() override; void setupROS2(); diff --git a/crane_simple_ai/src/crane_commander.cpp b/crane_simple_ai/src/crane_commander.cpp index c1649dd41..281c38ac1 100644 --- a/crane_simple_ai/src/crane_commander.cpp +++ b/crane_simple_ai/src/crane_commander.cpp @@ -284,7 +284,7 @@ void CraneCommander::on_commandComboBox_currentTextChanged(const QString & comma ui->parametersTableWidget->setItem(ui->parametersTableWidget->rowCount() - 1, 0, name_item); std::visit( overloaded{ - [&](double e) { + [&](const double e) { ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 1, new QTableWidgetItem(QString::number(e))); auto type_item = new QTableWidgetItem("double"); @@ -292,7 +292,7 @@ void CraneCommander::on_commandComboBox_currentTextChanged(const QString & comma ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 2, type_item); }, - [&](bool e) { + [&](const bool e) { ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 1, new QTableWidgetItem(e ? "true" : "false")); @@ -301,7 +301,7 @@ void CraneCommander::on_commandComboBox_currentTextChanged(const QString & comma ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 2, type_item); }, - [&](int e) { + [&](const int e) { ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 1, new QTableWidgetItem(QString::number(e))); auto type_item = new QTableWidgetItem("int"); @@ -309,7 +309,7 @@ void CraneCommander::on_commandComboBox_currentTextChanged(const QString & comma ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 2, type_item); }, - [&](std::string e) { + [&](const std::string & e) { ui->parametersTableWidget->setItem( ui->parametersTableWidget->rowCount() - 1, 1, new QTableWidgetItem(QString::fromStdString(e))); diff --git a/crane_simple_ai/src/simple_ai_node.cpp b/crane_simple_ai/src/simple_ai_node.cpp index c38fccf33..80ad5a7ed 100644 --- a/crane_simple_ai/src/simple_ai_node.cpp +++ b/crane_simple_ai/src/simple_ai_node.cpp @@ -14,5 +14,5 @@ int main(int argc, char * argv[]) rclcpp::init(argc, argv); crane::CraneCommander commander; commander.show(); - return app.exec(); + return QApplication::exec(); } diff --git a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp index 3807c65ec..ad3ecd431 100644 --- a/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp +++ b/crane_world_model_publisher/include/crane_world_model_publisher/world_model_publisher.hpp @@ -76,9 +76,9 @@ class WorldModelPublisherComponent : public rclcpp::Node CRANE_PUBLIC explicit WorldModelPublisherComponent(const rclcpp::NodeOptions &); - void visionDetectionsCallback(const robocup_ssl_msgs::msg::TrackedFrame::SharedPtr); + void visionDetectionsCallback(const robocup_ssl_msgs::msg::TrackedFrame::SharedPtr &); - void visionGeometryCallback(const robocup_ssl_msgs::msg::GeometryData::SharedPtr); + void visionGeometryCallback(const robocup_ssl_msgs::msg::GeometryData::SharedPtr &); private: void publishWorldModel(); diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp index 6bb434dd7..34b189857 100644 --- a/crane_world_model_publisher/src/world_model_publisher.cpp +++ b/crane_world_model_publisher/src/world_model_publisher.cpp @@ -84,7 +84,7 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt } void WorldModelPublisherComponent::visionDetectionsCallback( - const robocup_ssl_msgs::msg::TrackedFrame::SharedPtr msg) + const robocup_ssl_msgs::msg::TrackedFrame::SharedPtr & msg) { // TODO(HansRobo): 全部クリアしていたら複数カメラのときにうまく更新できないはず robot_info[0].clear(); @@ -142,7 +142,7 @@ void WorldModelPublisherComponent::visionDetectionsCallback( } void WorldModelPublisherComponent::visionGeometryCallback( - const robocup_ssl_msgs::msg::GeometryData::SharedPtr msg) + const robocup_ssl_msgs::msg::GeometryData::SharedPtr & msg) { field_h = msg->field.field_width / 1000.; field_w = msg->field.field_length / 1000.; From 0b12f4a4a1b3029a0fec81a0a28224f991a775e7 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 22:20:46 +0900 Subject: [PATCH 14/21] =?UTF-8?q?=E3=83=91=E3=83=A9=E3=83=81=E3=83=A5?= =?UTF-8?q?=E3=83=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_bringup/launch/play_switcher.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/crane_bringup/launch/play_switcher.launch.xml b/crane_bringup/launch/play_switcher.launch.xml index 9586ebba6..d7de7d259 100644 --- a/crane_bringup/launch/play_switcher.launch.xml +++ b/crane_bringup/launch/play_switcher.launch.xml @@ -15,9 +15,9 @@ - - - + + + From b7a002a18d2c393ce09f9b9f43733930a239dfc9 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Fri, 23 Feb 2024 22:29:13 +0900 Subject: [PATCH 15/21] =?UTF-8?q?=E8=AD=A6=E5=91=8A=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../crane_planner_plugins/skill_planner.hpp | 42 ++++++++++--------- .../their_penalty_kick_planner.hpp | 2 +- .../session_controller.hpp | 2 +- .../src/crane_session_controller.cpp | 10 ++--- .../src/crane_grsim_operator_node.cpp | 34 +++++++-------- 5 files changed, 46 insertions(+), 44 deletions(-) diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp index c1dc68bfc..acb107921 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/skill_planner.hpp @@ -64,30 +64,31 @@ namespace crane class GoalieSkillPlanner : public PlannerBase { public: - std ::shared_ptr skill = nullptr; + std::shared_ptr skill = nullptr; COMPOSITION_PUBLIC explicit GoalieSkillPlanner( - WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("Goalie", world_model, visualizer) { } - std ::pair> calculateRobotCommand( - const std ::vector & robots) override + std::pair> calculateRobotCommand( + const std::vector & robots) override { if (not skill) { - return {PlannerBase ::Status ::RUNNING, {}}; + return {PlannerBase::Status::RUNNING, {}}; } else { - std ::vector robot_commands; + std::vector robot_commands; auto status = skill->run(visualizer); - return {static_cast(status), {skill->getRobotCommand()}}; + return {static_cast(status), {skill->getRobotCommand()}}; } } auto getSelectedRobots( - uint8_t selectable_robots_num, const std ::vector & selectable_robots) - -> std ::vector override + uint8_t selectable_robots_num, const std::vector & selectable_robots) + -> std::vector override { - skill = std ::make_shared(world_model->getOurGoalieId(), world_model); + skill = std::make_shared(world_model->getOurGoalieId(), world_model); return {world_model->getOurGoalieId()}; } }; @@ -95,33 +96,34 @@ class GoalieSkillPlanner : public PlannerBase class BallPlacementSkillPlanner : public PlannerBase { public: - std ::shared_ptr skill = nullptr; + std::shared_ptr skill = nullptr; COMPOSITION_PUBLIC explicit BallPlacementSkillPlanner( - WorldModelWrapper ::SharedPtr & world_model, ConsaiVisualizerWrapper ::SharedPtr visualizer) + WorldModelWrapper::SharedPtr & world_model, + const ConsaiVisualizerWrapper::SharedPtr & visualizer) : PlannerBase("BallPlacement", world_model, visualizer) { } - std ::pair> calculateRobotCommand( - const std ::vector & robots) override + std::pair> calculateRobotCommand( + const std::vector & robots) override { if (not skill) { - return {PlannerBase ::Status ::RUNNING, {}}; + return {PlannerBase::Status::RUNNING, {}}; } else { if (auto target = world_model->getBallPlacementTarget(); target.has_value()) { skill->setParameter("placement_x", target->x()); skill->setParameter("placement_y", target->y()); } - std ::vector robot_commands; + std::vector robot_commands; auto status = skill->run(visualizer); - return {static_cast(status), {skill->getRobotCommand()}}; + return {static_cast(status), {skill->getRobotCommand()}}; } } auto getSelectedRobots( - uint8_t selectable_robots_num, const std ::vector & selectable_robots) - -> std ::vector override + uint8_t selectable_robots_num, const std::vector & selectable_robots) + -> std::vector override { // ボールに近いロボットを1台選択 auto selected_robots = this->getSelectedRobotsByScore( @@ -129,7 +131,7 @@ class BallPlacementSkillPlanner : public PlannerBase // ボールに近いほどスコアが高い return 100.0 / std::max(world_model->getSquareDistanceFromRobotToBall(robot->id), 0.01); }); - skill = std ::make_shared(selected_robots.front(), world_model); + skill = std::make_shared(selected_robots.front(), world_model); if (auto target = world_model->getBallPlacementTarget(); target.has_value()) { skill->setParameter("placement_x", target->x()); diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp index 9e14d1929..60c1e99f7 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/their_penalty_kick_planner.hpp @@ -72,7 +72,7 @@ class TheirPenaltyKickPlanner : public PlannerBase uint8_t selectable_robots_num, const std::vector & selectable_robots) -> std::vector override { - goalie = std ::make_shared(world_model->getOurGoalieId(), world_model); + goalie = std::make_shared(world_model->getOurGoalieId(), world_model); auto robots_sorted = this->getSelectedRobotsByScore( selectable_robots_num, selectable_robots, [&](const std::shared_ptr & robot) { // ボールに近いほうが先頭 diff --git a/session/crane_session_controller/include/crane_session_controller/session_controller.hpp b/session/crane_session_controller/include/crane_session_controller/session_controller.hpp index e5581c89a..44482d4b1 100644 --- a/session/crane_session_controller/include/crane_session_controller/session_controller.hpp +++ b/session/crane_session_controller/include/crane_session_controller/session_controller.hpp @@ -41,7 +41,7 @@ class SessionControllerComponent : public rclcpp::Node COMPOSITION_PUBLIC explicit SessionControllerComponent(const rclcpp::NodeOptions & options); - void request(std::string situation, std::vector selectable_robot_ids); + void request(const std::string & situation, std::vector selectable_robot_ids); private: WorldModelWrapper::SharedPtr world_model; diff --git a/session/crane_session_controller/src/crane_session_controller.cpp b/session/crane_session_controller/src/crane_session_controller.cpp index c5db79858..e624dfbb4 100644 --- a/session/crane_session_controller/src/crane_session_controller.cpp +++ b/session/crane_session_controller/src/crane_session_controller.cpp @@ -79,7 +79,7 @@ SessionControllerComponent::SessionControllerComponent(const rclcpp::NodeOptions } game_analysis_sub = create_subscription( - "/game_analysis", 1, [this](const crane_msgs::msg::GameAnalysis & msg) { + "/game_analysis", 1, [](const crane_msgs::msg::GameAnalysis & msg) { // TODO(HansRobo): 実装 }); @@ -157,7 +157,7 @@ SessionControllerComponent::SessionControllerComponent(const rclcpp::NodeOptions } void SessionControllerComponent::request( - std::string situation, std::vector selectable_robot_ids) + const std::string & situation, std::vector selectable_robot_ids) { RCLCPP_INFO( get_logger(), "「%s」というSituationに対してロボット割当を実行します", situation.c_str()); @@ -197,13 +197,13 @@ void SessionControllerComponent::request( }(); // 割当依頼結果の反映 - std::string ids_string; + std::string id_list_string; for (auto id : response.selected_robots) { - ids_string += std::to_string(id) + " "; + id_list_string += std::to_string(id) + " "; } RCLCPP_INFO( get_logger(), "\tセッション「%s」に以下のロボットを割り当てました : %s", - p.session_name.c_str(), ids_string.c_str()); + p.session_name.c_str(), id_list_string.c_str()); for (auto selected_robot_id : response.selected_robots) { // 割当されたロボットを利用可能ロボットリストから削除 selectable_robot_ids.erase( diff --git a/utility/crane_grsim_operator/src/crane_grsim_operator_node.cpp b/utility/crane_grsim_operator/src/crane_grsim_operator_node.cpp index 5ab9a518c..a04218868 100644 --- a/utility/crane_grsim_operator/src/crane_grsim_operator_node.cpp +++ b/utility/crane_grsim_operator/src/crane_grsim_operator_node.cpp @@ -38,23 +38,23 @@ class GrsimOperator : public rclcpp::Node // &GrsimOperator::send_replacement, this, std::placeholders::_1)); pub_replacement = this->create_publisher("replacement", 10); - LOAD_ROBOT_POSE("yellow.robot1", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot2", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot3", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot4", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot5", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot6", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot7", yellow_robots); - LOAD_ROBOT_POSE("yellow.robot8", yellow_robots); - - LOAD_ROBOT_POSE("blue.robot1", blue_robots); - LOAD_ROBOT_POSE("blue.robot2", blue_robots); - LOAD_ROBOT_POSE("blue.robot3", blue_robots); - LOAD_ROBOT_POSE("blue.robot4", blue_robots); - LOAD_ROBOT_POSE("blue.robot5", blue_robots); - LOAD_ROBOT_POSE("blue.robot6", blue_robots); - LOAD_ROBOT_POSE("blue.robot7", blue_robots); - LOAD_ROBOT_POSE("blue.robot8", blue_robots); + LOAD_ROBOT_POSE("yellow.robot1", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot2", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot3", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot4", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot5", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot6", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot7", yellow_robots) + LOAD_ROBOT_POSE("yellow.robot8", yellow_robots) + + LOAD_ROBOT_POSE("blue.robot1", blue_robots) + LOAD_ROBOT_POSE("blue.robot2", blue_robots) + LOAD_ROBOT_POSE("blue.robot3", blue_robots) + LOAD_ROBOT_POSE("blue.robot4", blue_robots) + LOAD_ROBOT_POSE("blue.robot5", blue_robots) + LOAD_ROBOT_POSE("blue.robot6", blue_robots) + LOAD_ROBOT_POSE("blue.robot7", blue_robots) + LOAD_ROBOT_POSE("blue.robot8", blue_robots) declare_parameter("ball.pos", std::vector(2, -20.0)); auto ball_pos = get_parameter("ball.pos").as_double_array(); From dd5f74c5927b23541212484983236bfe9f62803c Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 24 Feb 2024 00:27:52 +0900 Subject: [PATCH 16/21] =?UTF-8?q?=E3=83=87=E3=83=95=E3=82=A9=E3=83=AB?= =?UTF-8?q?=E3=83=88=E9=80=9F=E5=BA=A6=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_msgs/msg/control/LocalPlannerConfig.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crane_msgs/msg/control/LocalPlannerConfig.msg b/crane_msgs/msg/control/LocalPlannerConfig.msg index 35916c329..399821fbb 100644 --- a/crane_msgs/msg/control/LocalPlannerConfig.msg +++ b/crane_msgs/msg/control/LocalPlannerConfig.msg @@ -4,6 +4,6 @@ bool disable_placement_avoidance false bool disable_ball_avoidance false float32 max_acceleration -1 -float32 max_velocity -1 +float32 max_velocity 1.5 float32 max_omega -1 float32 terminal_velocity 0 From 2ee402e226b9b5eb0aaed02b0f716ae9074421f6 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 24 Feb 2024 00:28:07 +0900 Subject: [PATCH 17/21] =?UTF-8?q?=E3=82=A2=E3=82=BF=E3=83=83=E3=82=AB?= =?UTF-8?q?=E3=83=BC=E8=B7=9D=E9=9B=A2=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_planner_plugins/attacker_planner.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp index db541e2c3..de7fda5b5 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_planner.hpp @@ -45,7 +45,7 @@ class AttackerPlanner : public PlannerBase auto [best_angle, goal_angle_width] = world_model->getLargestGoalAngleRangeFromPoint(world_model->ball.pos); - Point best_target = world_model->ball.pos + getNormVec(best_angle) * 0.5; + Point best_target = world_model->ball.pos + getNormVec(best_angle) * 0.3; // シュートの隙がないときは仲間へパス if (goal_angle_width < 0.07) { From 82874782323f947a272dc887d966465dc25155ed Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 24 Feb 2024 00:33:54 +0900 Subject: [PATCH 18/21] =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../crane_robot_skills/penalty_kick.hpp | 2 +- .../src/world_model_publisher.cpp | 34 +++++++++---------- .../crane_planner_base/planner_base.hpp | 2 ++ .../our_penalty_kick_planner.hpp | 4 +-- .../src/crane_session_controller.cpp | 1 + 5 files changed, 22 insertions(+), 21 deletions(-) diff --git a/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp b/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp index f672b8f22..7a0ca2ebc 100644 --- a/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp +++ b/crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp @@ -84,7 +84,7 @@ class PenaltyKick : public SkillBase command->disableBallAvoidance(); } - command->setTargetTheta(getAngle(best_target - world_model->ball.pos)); + command->setTargetTheta(target_theta); return Status::RUNNING; }); diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp index 34b189857..ced6d5367 100644 --- a/crane_world_model_publisher/src/world_model_publisher.cpp +++ b/crane_world_model_publisher/src/world_model_publisher.cpp @@ -38,6 +38,16 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt declare_parameter("team_name", "ibis-ssl"); team_name = get_parameter("team_name").as_string(); + declare_parameter("initial_team_color", "BLUE"); + auto initial_team_color = get_parameter("initial_team_color").as_string(); + if (initial_team_color == "BLUE") { + our_color = Color::BLUE; + their_color = Color::YELLOW; + } else { + our_color = Color::YELLOW; + their_color = Color::BLUE; + } + sub_referee = this->create_subscription( "/referee", 1, [this](const robocup_ssl_msgs::msg::Referee & msg) { if (msg.yellow.name == team_name) { @@ -70,17 +80,6 @@ WorldModelPublisherComponent::WorldModelPublisherComponent(const rclcpp::NodeOpt ball_placement_target_y = msg.designated_position.front().y / 1000.; } }); - - declare_parameter("initial_team_color", "BLUE"); - auto initial_team_color = get_parameter("initial_team_color").as_string(); - if (initial_team_color == "BLUE") { - our_color = Color::BLUE; - their_color = Color::YELLOW; - - } else { - our_color = Color::YELLOW; - their_color = Color::BLUE; - } } void WorldModelPublisherComponent::visionDetectionsCallback( @@ -89,7 +88,7 @@ void WorldModelPublisherComponent::visionDetectionsCallback( // TODO(HansRobo): 全部クリアしていたら複数カメラのときにうまく更新できないはず robot_info[0].clear(); robot_info[1].clear(); - for (auto & robot : msg->robots) { + for (const auto & robot : msg->robots) { crane_msgs::msg::RobotInfo each_robot_info; if (not robot.visibility.empty()) { each_robot_info.detected = (robot.visibility.front() > 0.8); @@ -101,13 +100,13 @@ void WorldModelPublisherComponent::visionDetectionsCallback( each_robot_info.pose.x = robot.pos.x; each_robot_info.pose.y = robot.pos.y; each_robot_info.pose.theta = robot.orientation; - if (!robot.vel.empty()) { + if (not robot.vel.empty()) { each_robot_info.velocity.x = robot.vel.front().x; each_robot_info.velocity.y = robot.vel.front().y; } else { // calc from diff } - if (!robot.vel_angular.empty()) { + if (not robot.vel_angular.empty()) { each_robot_info.velocity.theta = robot.vel_angular.front(); } else { // calc from diff @@ -121,7 +120,7 @@ void WorldModelPublisherComponent::visionDetectionsCallback( robot_info[team_index].push_back(each_robot_info); } - if (!msg->balls.empty()) { + if (not msg->balls.empty()) { auto ball_msg = msg->balls.front(); ball_info.pose.x = ball_msg.pos.x; ball_info.pose.y = ball_msg.pos.y; @@ -151,7 +150,6 @@ void WorldModelPublisherComponent::visionGeometryCallback( goal_w = msg->field.goal_width / 1000.; if (not msg->field.penalty_area_depth.empty()) { - std::cout << msg->field.penalty_area_depth.front() << std::endl; defense_area_h = msg->field.penalty_area_depth.front() / 1000.; } @@ -176,7 +174,7 @@ void WorldModelPublisherComponent::publishWorldModel() updateBallContact(); - for (auto robot : robot_info[static_cast(our_color)]) { + for (const auto & robot : robot_info[static_cast(our_color)]) { crane_msgs::msg::RobotInfoOurs info; info.id = robot.robot_id; info.disappeared = !robot.detected; @@ -185,7 +183,7 @@ void WorldModelPublisherComponent::publishWorldModel() info.ball_contact = robot.ball_contact; wm.robot_info_ours.emplace_back(info); } - for (auto robot : robot_info[static_cast(their_color)]) { + for (const auto & robot : robot_info[static_cast(their_color)]) { crane_msgs::msg::RobotInfoTheirs info; info.id = robot.robot_id; info.disappeared = !robot.detected; diff --git a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp index 7de5d8c43..0b95f4497 100644 --- a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp +++ b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp @@ -70,6 +70,8 @@ class PlannerBase crane_msgs::msg::RobotCommands msg; msg.is_yellow = world_model->isYellow(); for (auto command : robot_commands) { + msg.on_positive_half = world_model->onPositiveHalf(); + for (const auto & command : robot_commands) { msg.robot_commands.emplace_back(command); } return msg; diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp index 978e319a8..22011811d 100644 --- a/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp +++ b/session/crane_planner_plugins/include/crane_planner_plugins/our_penalty_kick_planner.hpp @@ -56,10 +56,10 @@ class OurPenaltyKickPlanner : public PlannerBase auto status = kicker->run(visualizer); robot_commands.emplace_back(kicker->getRobotCommand()); if (status == skills::Status::SUCCESS) { - return {PlannerBase::Status::SUCCESS, robot_commands}; + return {Status::SUCCESS, robot_commands}; } } - return {PlannerBase::Status::RUNNING, robot_commands}; + return {Status::RUNNING, robot_commands}; } auto getSelectedRobots( diff --git a/session/crane_session_controller/src/crane_session_controller.cpp b/session/crane_session_controller/src/crane_session_controller.cpp index e624dfbb4..5ba34c8f6 100644 --- a/session/crane_session_controller/src/crane_session_controller.cpp +++ b/session/crane_session_controller/src/crane_session_controller.cpp @@ -143,6 +143,7 @@ SessionControllerComponent::SessionControllerComponent(const rclcpp::NodeOptions crane_msgs::msg::RobotCommands msg; msg.header = world_model->getMsg().header; msg.on_positive_half = world_model->onPositiveHalf(); + msg.is_yellow = world_model->isYellow(); for (const auto & planner : available_planners) { auto commands_msg = planner->getRobotCommands(); msg.robot_commands.insert( From e90b5a2583e6046ade1936b1ca277b532206863c Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 23 Feb 2024 15:34:14 +0000 Subject: [PATCH 19/21] style(pre-commit): autofix --- .../crane_planner_base/planner_base.hpp | 97 ++++++++++--------- 1 file changed, 49 insertions(+), 48 deletions(-) diff --git a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp index 0b95f4497..508b194ef 100644 --- a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp +++ b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp @@ -70,66 +70,67 @@ class PlannerBase crane_msgs::msg::RobotCommands msg; msg.is_yellow = world_model->isYellow(); for (auto command : robot_commands) { - msg.on_positive_half = world_model->onPositiveHalf(); - for (const auto & command : robot_commands) { - msg.robot_commands.emplace_back(command); + msg.on_positive_half = world_model->onPositiveHalf(); + for (const auto & command : robot_commands) { + msg.robot_commands.emplace_back(command); + } + return msg; } - return msg; - } - - void addRobotSelectCallback(std::function f) - { - robot_select_callbacks.emplace_back(f); - } - - Status getStatus() const { return status; } -protected: - virtual auto getSelectedRobots( - uint8_t selectable_robots_num, const std::vector & selectable_robots) - -> std::vector = 0; - - auto getSelectedRobotsByScore( - uint8_t selectable_robots_num, const std::vector & selectable_robots, - std::function &)> score_func) -> std::vector - { - std::vector> robot_with_score; - for (const auto & id : selectable_robots) { - robot_with_score.emplace_back(id, score_func(world_model->getOurRobot(id))); + void addRobotSelectCallback(std::function f) + { + robot_select_callbacks.emplace_back(f); } - std::sort( - std::begin(robot_with_score), std::end(robot_with_score), - [](const auto & a, const auto & b) -> bool { - // greater score first - return a.second > b.second; - }); - - std::vector selected_robots; - for (int i = 0; i < selectable_robots_num; i++) { - if (i >= robot_with_score.size()) { - break; + + Status getStatus() const { return status; } + + protected: + virtual auto getSelectedRobots( + uint8_t selectable_robots_num, const std::vector & selectable_robots) + ->std::vector = 0; + + auto getSelectedRobotsByScore( + uint8_t selectable_robots_num, const std::vector & selectable_robots, + std::function &)> score_func) + ->std::vector + { + std::vector> robot_with_score; + for (const auto & id : selectable_robots) { + robot_with_score.emplace_back(id, score_func(world_model->getOurRobot(id))); } - selected_robots.emplace_back(robot_with_score.at(i).first); + std::sort( + std::begin(robot_with_score), std::end(robot_with_score), + [](const auto & a, const auto & b) -> bool { + // greater score first + return a.second > b.second; + }); + + std::vector selected_robots; + for (int i = 0; i < selectable_robots_num; i++) { + if (i >= robot_with_score.size()) { + break; + } + selected_robots.emplace_back(robot_with_score.at(i).first); + } + return selected_robots; } - return selected_robots; - } - const std::string name; + const std::string name; - std::vector robots; + std::vector robots; - WorldModelWrapper::SharedPtr world_model; + WorldModelWrapper::SharedPtr world_model; - virtual std::pair> calculateRobotCommand( - const std::vector & robots) = 0; + virtual std::pair> calculateRobotCommand( + const std::vector & robots) = 0; - const ConsaiVisualizerWrapper::SharedPtr & visualizer; + const ConsaiVisualizerWrapper::SharedPtr & visualizer; - Status status = Status::RUNNING; + Status status = Status::RUNNING; -private: - std::vector> robot_select_callbacks; -}; + private: + std::vector> robot_select_callbacks; + }; } // namespace crane #endif // CRANE_PLANNER_BASE__PLANNER_BASE_HPP_ From 892d5f5ed219e464faafe80d3eadfa6cfaef0f06 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 24 Feb 2024 07:55:21 +0900 Subject: [PATCH 20/21] =?UTF-8?q?=E3=82=B3=E3=83=9F=E3=83=83=E3=83=88?= =?UTF-8?q?=E6=BC=8F=E3=82=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../crane_planner_base/planner_base.hpp | 98 +++++++++---------- 1 file changed, 48 insertions(+), 50 deletions(-) diff --git a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp index 508b194ef..74b351579 100644 --- a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp +++ b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp @@ -69,68 +69,66 @@ class PlannerBase status = latest_status; crane_msgs::msg::RobotCommands msg; msg.is_yellow = world_model->isYellow(); - for (auto command : robot_commands) { - msg.on_positive_half = world_model->onPositiveHalf(); - for (const auto & command : robot_commands) { - msg.robot_commands.emplace_back(command); - } - return msg; + msg.on_positive_half = world_model->onPositiveHalf(); + for (const auto & command : robot_commands) { + msg.robot_commands.emplace_back(command); } + return msg; + } - void addRobotSelectCallback(std::function f) - { - robot_select_callbacks.emplace_back(f); - } + void addRobotSelectCallback(std::function f) + { + robot_select_callbacks.emplace_back(f); + } - Status getStatus() const { return status; } - - protected: - virtual auto getSelectedRobots( - uint8_t selectable_robots_num, const std::vector & selectable_robots) - ->std::vector = 0; - - auto getSelectedRobotsByScore( - uint8_t selectable_robots_num, const std::vector & selectable_robots, - std::function &)> score_func) - ->std::vector - { - std::vector> robot_with_score; - for (const auto & id : selectable_robots) { - robot_with_score.emplace_back(id, score_func(world_model->getOurRobot(id))); - } - std::sort( - std::begin(robot_with_score), std::end(robot_with_score), - [](const auto & a, const auto & b) -> bool { - // greater score first - return a.second > b.second; - }); - - std::vector selected_robots; - for (int i = 0; i < selectable_robots_num; i++) { - if (i >= robot_with_score.size()) { - break; - } - selected_robots.emplace_back(robot_with_score.at(i).first); + Status getStatus() const { return status; } + +protected: + virtual auto getSelectedRobots( + uint8_t selectable_robots_num, const std::vector & selectable_robots) + -> std::vector = 0; + + auto getSelectedRobotsByScore( + uint8_t selectable_robots_num, const std::vector & selectable_robots, + std::function &)> score_func) -> std::vector + { + std::vector> robot_with_score; + for (const auto & id : selectable_robots) { + robot_with_score.emplace_back(id, score_func(world_model->getOurRobot(id))); + } + std::sort( + std::begin(robot_with_score), std::end(robot_with_score), + [](const auto & a, const auto & b) -> bool { + // greater score first + return a.second > b.second; + }); + + std::vector selected_robots; + for (int i = 0; i < selectable_robots_num; i++) { + if (i >= robot_with_score.size()) { + break; } - return selected_robots; + selected_robots.emplace_back(robot_with_score.at(i).first); } + return selected_robots; + } - const std::string name; + const std::string name; - std::vector robots; + std::vector robots; - WorldModelWrapper::SharedPtr world_model; + WorldModelWrapper::SharedPtr world_model; - virtual std::pair> calculateRobotCommand( - const std::vector & robots) = 0; + virtual std::pair> calculateRobotCommand( + const std::vector & robots) = 0; - const ConsaiVisualizerWrapper::SharedPtr & visualizer; + const ConsaiVisualizerWrapper::SharedPtr & visualizer; - Status status = Status::RUNNING; + Status status = Status::RUNNING; - private: - std::vector> robot_select_callbacks; - }; +private: + std::vector> robot_select_callbacks; +}; } // namespace crane #endif // CRANE_PLANNER_BASE__PLANNER_BASE_HPP_ From 8547d55dd3cb1f6e40e941484b7e22406d4e490d Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 24 Feb 2024 08:38:17 +0900 Subject: [PATCH 21/21] =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../include/crane_planner_base/planner_base.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp index 74b351579..f211c4c92 100644 --- a/session/crane_planner_base/include/crane_planner_base/planner_base.hpp +++ b/session/crane_planner_base/include/crane_planner_base/planner_base.hpp @@ -122,7 +122,7 @@ class PlannerBase virtual std::pair> calculateRobotCommand( const std::vector & robots) = 0; - const ConsaiVisualizerWrapper::SharedPtr & visualizer; + ConsaiVisualizerWrapper::SharedPtr visualizer; Status status = Status::RUNNING;