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Use look at ball before dribble #312

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jaagut merged 2 commits into from
Jul 2, 2023
Merged

Use look at ball before dribble #312

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6f6a1cb
fix look_at
val-ba Jul 2, 2023
ef8c781
update dsd
val-ba Jul 2, 2023
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4 changes: 2 additions & 2 deletions bitbots_body_behavior/bitbots_body_behavior/actions/head_modes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ def __init__(self, blackboard, dsd, parameters=None):
super().__init__(blackboard, dsd, parameters)

def perform(self):
ball_position = self.blackboard.world_model.get_best_ball_position()
ball_position = self.blackboard.world_model.get_best_ball_point_stamped()
server_running = self.blackboard.lookat_action_client.wait_for_server(timeout_sec=1.0)
if not server_running:
while not server_running and rclpy.ok():
Expand All @@ -34,7 +34,7 @@ def perform(self):
return self.pop()

goal = LookAt.Goal()
goal.target_point = ball_position
goal.look_at_position = ball_position
self.blackboard.lookat_action_client.send_goal_async(goal)
return self.pop()

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4 changes: 2 additions & 2 deletions bitbots_body_behavior/bitbots_body_behavior/main.dsd
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Original file line number Diff line number Diff line change
Expand Up @@ -14,14 +14,14 @@
@ChangeAction + action:kicking, @LookAtFront, @Stand + duration:1.0, @LookForward + r:false, @KickBallDynamic, @LookAtFieldFeatures + r:false, @WalkInPlace + duration:1 + r:false

#Dribble
@ChangeAction + action:going_to_ball, @CancelPathplanning, @LookAtFront, @DribbleForward
@ChangeAction + action:going_to_ball, @CancelPathplanning, @LookAtBall, @LookAtFront, @DribbleForward

#DribbleWithAvoidance
$AvoidBall
NO --> $BallClose + distance:%body.ball_reapproach_dist + angle:%body.ball_reapproach_angle
YES --> $BallKickArea
NEAR --> #Dribble
FAR --> @ChangeAction + action:going_to_ball, @LookAtFront, @GoToBall + target:map_goal
FAR --> @ChangeAction + action:going_to_ball, @LookAtFront, @GoToBall + target:map_goal
NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:map_goal + blocking:false + distance:%body.ball_far_approach_dist
YES --> $ReachedPathPlanningGoalPosition + thres:%body.ball_far_approach_position_thresh
YES --> @AvoidBallInactive
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