Merge branch 'main' into feature/python_events_executore

Author: Flova

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py

@@ -47,7 +47,9 @@ def __init__(self, node, blackboard):
 
         self.base_costmap: Optional[np.ndarray] = None  # generated once in constructor field features
         self.costmap: Optional[np.ndarray] = None  # updated on the fly based on the base_costmap
-        self.gradient_map: Optional[np.ndarray] = None  # global heading map (static) only dependent on field structure
+        self.gradient_map: Optional[list[np.ndarray]] = (
+            None  # global heading map (static) only dependent on field structure
+        )
 
         # Calculates the base costmap and gradient map based on it
         self.calc_base_costmap()

bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py

@@ -182,7 +182,8 @@ def get_ball_goal(self, target: BallGoalType, distance: float, side_offset: floa
 
         elif BallGoalType.CLOSE == target:
             ball_u, ball_v = self._blackboard.world_model.get_ball_position_uv()
-            angle = math.atan2(ball_v, ball_u)
+            ball_v_from_kick_foot = ball_v + side_offset
+            angle = math.atan2(ball_v_from_kick_foot, ball_u)
             goal_u = ball_u - math.cos(angle) * distance
             goal_v = ball_v - math.sin(angle) * distance + side_offset
             ball_point = (goal_u, goal_v, angle, self._blackboard.world_model.base_footprint_frame)

bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch

@@ -2,9 +2,12 @@
 <launch>
     <arg name="sim" default="false" />
     <arg name="dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <include file="$(find-pkg-share bitbots_body_behavior)/launch/behavior.launch">

bitbots_misc/bitbots_bringup/launch/teamplayer.launch

@@ -15,11 +15,14 @@
     <arg name="monitoring" default="true" description="Whether the system monitor and udp bridge should be started" />
     <arg name="record" default="false" description="Whether the ros bag recording should be started" />
     <arg name="tts" default="true" description="Whether to speak" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <!-- load the diagnostic aggregator -->

bitbots_misc/bitbots_bringup/launch/vision_standalone.launch

@@ -4,10 +4,13 @@
     <arg name="sim" default="false" description="true: activates simulation time, switches to simulation color settings and deactivates launching of an image provider" />
     <arg name="camera" default="true" description="true: launches an image provider to get images from a camera (unless sim:=true)" />
     <arg name="debug" default="false" description="true: activates publishing of several debug images" />
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
+    <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
     <!-- Load the global parameters-->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
+        <arg name="fieldname" value="$(var fieldname)" />
     </include>
 
     <!-- Load the diagnostic aggregator-->

bitbots_misc/bitbots_bringup/launch/visualization.launch

@@ -5,6 +5,7 @@
     <arg name="ipm" default="false" description="if the soccer ipm should be used" />
     <arg name="motion" default="true" description="if the motion should be started" />
     <arg name="game_controller" default="false" description="if the game controller node should be started" />
+    <arg name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" />