練習会用ブランチ監視用

crane_bringup/launch/crane.launch.py

@@ -32,20 +32,22 @@ def generate_launch_description():
             ),
             DeclareLaunchArgument(
                 "vision_port",
-                # default_value="10006",
-                default_value="10020",
+                default_value="10006",
+                # default_value="10020",
                 description="SSL-Visionと接続するためのマルチキャストポート",
             ),
             DeclareLaunchArgument(
                 "referee_addr",
                 default_value="224.5.23.1",
                 description="Game Controllerと接続するためのマルチキャストアドレス",
             ),
-            # DeclareLaunchArgument('referee_port', default_value='10003'),
-            DeclareLaunchArgument("referee_port", default_value="11111"),
-            DeclareLaunchArgument("team", default_value="ibis", description="チーム名"),
+            DeclareLaunchArgument("referee_port", default_value="10003"),
+            # DeclareLaunchArgument("referee_port", default_value="11111"),
             DeclareLaunchArgument(
-                "sim", default_value="true", description="シミュレータフラグ"
+                "team", default_value="Unknown", description="チーム名"
+            ),
+            DeclareLaunchArgument(
+                "sim", default_value="false", description="シミュレータフラグ"
             ),
             DeclareLaunchArgument(
                 "original_grsim",
@@ -56,18 +58,18 @@ def generate_launch_description():
                 "simple_ai", default_value="false", description="SimpleAIモードのフラグ"
             ),
             DeclareLaunchArgument(
-                "max_vel", default_value="3.0", description="ロボットの最大速度"
+                "max_vel", default_value="6.0", description="ロボットの最大速度"
             ),
             DeclareLaunchArgument(
                 "speak", default_value="true", description="音声ノードの起動フラグ"
             ),
             DeclareLaunchArgument(
                 "is_emplace_positive_side",
-                default_value="true",
+                default_value="false",
                 description="ロボットの退場する方向",
             ),
             DeclareLaunchArgument(
-                "record", default_value="false", description="rosbag記録フラグ"
+                "record", default_value="true", description="rosbag記録フラグ"
             ),
             Node(
                 package="crane_session_controller",
@@ -145,7 +147,7 @@ def generate_launch_description():
                 output="screen",
                 parameters=[
                     {"no_movement": False},
-                    {"latency_ms": 0.0},
+                    {"latency_ms": 100.0},
                     {"k_gain": 1.5},
                     {"i_gain": 0.0},
                     {"d_gain": 1.5},
@@ -164,7 +166,7 @@ def generate_launch_description():
                 executable="ibis_sender_node",
                 parameters=[
                     {"no_movement": False},
-                    {"latency_ms": 0.0},
+                    {"latency_ms": 100.0},
                     {"sim_mode": LaunchConfiguration("sim")},
                     {"kick_power_limit_straight": 0.30},
                     {"kick_power_limit_chip": 1.0},

crane_robot_skills/src/attacker.cpp

@@ -191,6 +191,8 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
 
   addStateFunction(AttackerState::GOAL_KICK, [this]() -> Status {
     goal_kick_skill.setParameter("dot_threshold", 0.95);
+    goal_kick_skill.setParameter("kick_power", 0.95);
+
     goal_kick_skill.setParameter("キック角度の最低要求精度[deg]", 5.0);
     return goal_kick_skill.run();
   });

crane_world_model_publisher/src/world_model_publisher.cpp

@@ -274,6 +274,8 @@ void WorldModelPublisherComponent::visionDetectionsCallback(const TrackedFrame &
     int ball_info_history_size = ball_info_history.size();
     if (1 > ball_info_history_size) {
       auto last_ball_info_history = ball_info_history[ball_info_history_size - 1];
+      double elapsed_time_since_last_detected =
+        tracked_frame.timestamp() - last_ball_info_history.detection_time;
       double elapsed_time_since_last_detected = (now() - last_ball_detect_time).seconds();
 
       // 0.5secビジョンから見えていなければ見失った

docker/sim/docker-compose.yaml

@@ -1,28 +1,28 @@
 services:
-  ssl-game-controller:
-    image: robocupssl/ssl-game-controller:3.11.2
-    command:
-      - -visionAddress
-      - 224.5.23.2:10020
-      - -trackerAddress
-      - 224.5.23.2:11010 # not yet overridable by autoRefs
-      - -publishAddress
-      - 224.5.23.1:11111
-      - -address
-      - :8081
-    volumes:
-      - ./config:/config:rw
-    network_mode: host
-    ports:
-      - 8081:8081/tcp
+#  ssl-game-controller:
+#    image: robocupssl/ssl-game-controller:3.11.2
+#    command:
+#      - -visionAddress
+#      - 224.5.23.2:10006
+#      - -trackerAddress
+#      - 224.5.23.2:11010 # not yet overridable by autoRefs
+#      - -publishAddress
+#      - 224.5.23.1:11111
+#      - -address
+#      - :8081
+#    volumes:
+#      - ./config:/config:rw
+#    network_mode: host
+#    ports:
+#      - 8081:8081/tcp
 
   ssl-vision-client:
     image: robocupssl/ssl-vision-client:1.6.0
     command:
       - -address
       - :8082
       - -visionAddress
-      - 224.5.23.2:10020
+      - 224.5.23.2:10006
     network_mode: host
     ports:
       - 8082:8082/tcp
@@ -43,7 +43,7 @@ services:
       - --active # active mode (connect to GC)
       - --headless
       - --visionAddress
-      - 224.5.23.2:10020
+      - 224.5.23.2:10006
       - --refereeAddress
       - 224.5.23.1:11111
       - --trackerAddress

session/crane_planner_plugins/src/test_planner.cpp

@@ -21,16 +21,16 @@ TestPlanner::calculateRobotCommand(
     int mode = (count % (30 * 10 * 4)) / (30 * 10);
     switch (mode) {
       case 0:
-        command->setTargetPosition(Point(3.5, 2.0));
+        command->setTargetPosition(Point(-1.0, 2.0));
         break;
       case 1:
-        command->setTargetPosition(Point(3.5, -2.0));
+        command->setTargetPosition(Point(-1.0, -2.0));
         break;
       case 2:
-        command->setTargetPosition(Point(-3.5, -2.0));
+        command->setTargetPosition(Point(-3.0, -2.0));
         break;
       case 3:
-        command->setTargetPosition(Point(-3.5, 2.0));
+        command->setTargetPosition(Point(-3.0, 2.0));
         break;
     }
     robot_commands.emplace_back(command->getMsg());

session/crane_session_controller/config/play_situation/STOP.yaml

@@ -1,8 +1,10 @@
 name: STOP
 description: STOP
 sessions:
+  - name: emplace_robot
+    capacity: 1
   - name: total_defense
-    capacity: 3
+    capacity: 2
   - name: ball_nearby_positioner_skill
     capacity: 2
   - name: simple_placer