Fix float message variables and increase turn duration

Author: cl03

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to.py

@@ -65,7 +65,7 @@ def perform(self, reevaluate=False):
 
         pose_msg.pose.position.x = self.point[0]
         pose_msg.pose.position.y = self.point[1]
-        pose_msg.pose.position.z = 0
+        pose_msg.pose.position.z = 0.0
         pose_msg.pose.orientation = quat_from_yaw(math.radians(self.point[2]))
 
         self.blackboard.pathfinding.publish(pose_msg)
@@ -80,8 +80,8 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         point = float(parameters.get("x", 0)), float(parameters.get("y", 0)), float(parameters.get("t", 0))
         self.point = (
-            point[0] * self.blackboard.world_model.field_length,
-            point[1] * self.blackboard.world_model.field_width,
+            point[0] * self.blackboard.world_model.field_length / 2,
+            point[1] * self.blackboard.world_model.field_width / 2,
             self.point[2],
         )
 
@@ -112,4 +112,4 @@ class GoToCenterpoint(GoToAbsolutePosition):
     def __init__(self, blackboard, dsd, parameters):
         """Go to the center of the field and look towards the enemy goal"""
         super().__init__(blackboard, dsd, parameters)
-        self.point = 0, 0, 0
+        self.point = 0.0, 0.0, 0.0

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -4,7 +4,7 @@ $DoOnce
     DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.5 + latch:true
         NO --> @LookAtFieldFeatures, @GoToAbsolutePositionFieldFraction + x:0.5
         YES --> $DoOnce
-            NOT_DONE --> @Turn + duration:5
+            NOT_DONE --> @Turn + duration:15
             DONE --> $DoOnce
                 NOT_DONE --> @GoToAbsolutePositionFieldFraction + y:1.0 + t:-90 + blocking:false
                 DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:0.2 + latch:true