ボールの回り込みの改良

crane_robot_skills/include/crane_robot_skills/kick.hpp

@@ -16,7 +16,6 @@ namespace crane::skills
 {
 enum class KickState {
   ENTRY_POINT,
-  CHASE_BALL,
   AROUND_BALL_AND_KICK,
   REDIRECT_KICK,
   POSITIVE_REDIRECT_KICK,

session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp

@@ -55,6 +55,14 @@ class AttackerSkillPlanner : public PlannerBase
           3, "red", 0.5, "");
       }
       auto status = skill->run();
+      if (skill->getID() != robots.front().robot_id) {
+        std::stringstream ss;
+        ss << "スキルのIDは" << static_cast<int>(skill->getID())
+           << "ですが、選択されたロボットのIDは" << static_cast<int>(robots.front().robot_id)
+           << "です。";
+        ss << "スキルのStateは" << magic_enum::enum_name(skill->getCurrentState()) << "です。";
+        std::cout << ss.str() << std::endl;
+      }
       return {static_cast<PlannerBase::Status>(status), {skill->getRobotCommand()}};
     }
   }