Merge branch 'develop' into 0111

ibis-ssl · Jan 16, 2025 · d216a4f · d216a4f
2 parents 9ae7064 + e640773
commit d216a4f
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Showing 6 changed files with 11 additions and 26 deletions.
diff --git a/crane_local_planner/CMakeLists.txt b/crane_local_planner/CMakeLists.txt
@@ -15,7 +15,6 @@ add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
 # find dependencies
 find_package(ament_cmake_auto REQUIRED)
 find_package(rclcpp_components REQUIRED)
-# find_package(backward_ros REQUIRED)
 ament_auto_find_build_dependencies()
 
 ament_auto_add_library(${PROJECT_NAME}_component SHARED
@@ -40,9 +39,6 @@ ament_auto_add_executable(${PROJECT_NAME}_node
   src/${PROJECT_NAME}_node.cpp
 )
 
-# include(/opt/ros/$ENV{ROS_DISTRO}/share/backward_ros/cmake/BackwardConfig.cmake)
-# add_backward(${PROJECT_NAME}_node)
-
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

diff --git a/crane_local_planner/package.xml b/crane_local_planner/package.xml
@@ -9,7 +9,6 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <!-- <depend>backward_ros</depend> -->
   <depend>closest_point_vendor</depend>
   <depend>crane_msg_wrappers</depend>
   <depend>crane_msgs</depend>

diff --git a/crane_robot_skills/include/crane_robot_skills/attacker.hpp b/crane_robot_skills/include/crane_robot_skills/attacker.hpp
@@ -23,7 +23,6 @@ namespace crane::skills
 enum class AttackerState {
   ENTRY_POINT,
   FORCED_PASS,
-  CUT_THEIR_PASS,
   STEAL_BALL,
   REDIRECT_GOAL_KICK,
   GOAL_KICK,

diff --git a/crane_robot_skills/src/attacker.cpp b/crane_robot_skills/src/attacker.cpp
@@ -95,23 +95,6 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
     return Status::RUNNING;
   });
 
-  // addTransition(AttackerState::ENTRY_POINT, AttackerState::CUT_THEIR_PASS, [this]() -> bool {
-  //   return not world_model()->isOurBallByBallOwnerCalculator() &&
-  //          world_model()->ball.isMoving(0.2) &&
-  //          world_model()->ball.isMovingTowards(robot()->pose.pos);
-  // });
-  //
-  // addTransition(AttackerState::CUT_THEIR_PASS, AttackerState::ENTRY_POINT, [this]() -> bool {
-  //   return world_model()->isOurBallByBallOwnerCalculator() or world_model()->ball.isStopped(0.2);
-  // });
-  //
-  // addStateFunction(AttackerState::CUT_THEIR_PASS, [this]() -> Status {
-  //   visualizer->addCircle(robot()->pose.pos, 0.25, 1, "blue", "white", 0.5);
-  //   receive_skill.setParameter("enable_redirect", false);
-  //   receive_skill.setParameter("policy", std::string("min_slack"));
-  //   return receive_skill.run();
-  // });
-
   addTransition(AttackerState::ENTRY_POINT, AttackerState::STEAL_BALL, [this]() -> bool {
     // 止まっているボールを相手が持っているとき
     const auto enemy_robots = world_model()->theirs.getAvailableRobots();

diff --git a/crane_robot_skills/src/goalie.cpp b/crane_robot_skills/src/goalie.cpp
@@ -5,6 +5,7 @@
 // https://opensource.org/licenses/MIT.
 
 #include <crane_robot_skills/goalie.hpp>
+#include <robocup_ssl_msgs/msg/referee.hpp>
 
 namespace crane::skills
 {
@@ -35,9 +36,17 @@ Status Goalie::update()
       phase = "ペナルティキック";
       inplay(false);
       break;
-    default:
-      inplay(true);
+    default: {
+      if (
+        world_model()->play_situation.getRefereeCommandID() ==
+        robocup_ssl_msgs::msg::Referee::COMMAND_STOP) {
+        // STOPのときにはボールを排出しない
+        inplay(false);
+      } else {
+        inplay(true);
+      }
       break;
+    }
   }
 
   visualizer->addPoint(robot()->pose.pos.x(), robot()->pose.pos.y(), 0, "white", 1., phase);

diff --git a/crane_world_model_publisher/src/world_model_publisher.cpp b/crane_world_model_publisher/src/world_model_publisher.cpp
@@ -277,7 +277,6 @@ void WorldModelPublisherComponent::visionDetectionsCallback(const TrackedFrame &
       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 = 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