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Add static obstacles to avoid running into the goals. - #915
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Extend bitbots_rust_nav with a generic PolygonObstacle (arbitrary, also concave polygons, inflated via Minkowski sum like the round obstacles) and allow mixing obstacle shapes in the same ObstacleMap. The path planning now creates a U-shaped obstacle for each goal covering its sides and back based on the field dimensions from the parameter blackboard. The back wall is extended away from the field, so no paths are planned through the narrow space behind the goal. Goal depth is added to all field configs.
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June 19, 2026 17:20
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Is this safe or self-intersecting polygons? In general and when inflating them?
I guess, there is no reason to do this intentionally, but accidentally doing that could be bad.
Do we see the polygon in any visualization like in rviz?
…or/behavior_dsd/decisions/count_active_players_without_goalie.py Co-authored-by: Jan Gutsche <34797331+jaagut@users.noreply.github.com>
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Not supported imo. |
This was referenced Oct 8, 2026
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