米子練習会の変更の差分監視

crane_local_planner/src/gridmap_planner.cpp

@@ -558,7 +558,7 @@ crane_msgs::msg::RobotCommands GridMapPlanner::calculateRobotCommand(
 
             if (nearest_robot) {
               Velocity relative_velocity = (robot->vel.linear - nearest_robot->vel.linear);
-              // 2m以内のロボットに対してx,y ともに近づいていて
+              // 2m以内のロボットに対してx,y ともに近づいていて、
               // 速度が1.0m以上の場合、速度を1.0にする
               if (
                 nearest_robot_distance < 2.0 && relative_velocity.x() > 0.0 &&

crane_robot_skills/include/crane_robot_skills/attacker.hpp

@@ -33,6 +33,7 @@ enum class AttackerState {
   LOW_CHANCE_GOAL_KICK,
   MOVE_BALL_TO_OPPONENT_HALF,
   RECEIVE_BALL,
+  GO_TO_BALL,
   THROUGH,
   STOP,
 };

crane_robot_skills/src/attacker.cpp

@@ -62,10 +62,18 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
           break;
         }
         case 1: {
-          // パス
-          kick_skill.setParameter("target", receiver->pose.pos);
+          // 敵陣側に味方ロボットがいればパス
+          if (
+            (receiver->pose.pos - world_model()->getOurGoalCenter()).norm() >
+            (world_model()->ball.pos - world_model()->getOurGoalCenter()).norm()) {
+            kick_skill.setParameter("target", receiver->pose.pos);
+          } else {
+            kick_skill.setParameter("target", world_model()->getTheirGoalCenter());
+          }
+
           kick_skill.setParameter("dot_threshold", 0.95);
-          kick_skill.setParameter("kick_power", 0.8);
+          kick_skill.setParameter("kick_power", 0.5);
+          kick_skill.setParameter("around_interval", 0.3);
           Segment kick_line{world_model()->ball.pos, receiver->pose.pos};
           // 近くに敵ロボットがいればチップキック
           if (const auto enemy_robots = world_model()->theirs.getAvailableRobots();
@@ -74,6 +82,8 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
               world_model()->getNearestRobotWithDistanceFromSegment(kick_line, enemy_robots);
             if (enemy_distance < 0.4 && nearest_enemy->getDistance(world_model()->ball.pos) < 2.0) {
               kick_skill.setParameter("kick_with_chip", true);
+            } else {
+              kick_skill.setParameter("kick_with_chip", false);
             }
           }
           kick_skill.run(visualizer);
@@ -189,7 +199,7 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
 
   addTransition(AttackerState::GOAL_KICK, AttackerState::ENTRY_POINT, [this]() -> bool {
     // ボールが早い
-    return world_model()->ball.isMoving(1.0);
+    return world_model()->ball.isMoving(3.0);
   });
 
   addStateFunction(
@@ -325,7 +335,8 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
         }
       }
       kick_skill.setParameter("kick_power", 0.5);
-      kick_skill.setParameter("dot_threshold", 0.97);
+      kick_skill.setParameter("dot_threshold", 0.95);
+      kick_skill.setParameter("around_interval", 0.2);
       return kick_skill.run(visualizer);
     });
 
@@ -371,15 +382,14 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
     [this]([[maybe_unused]] const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status {
       kick_skill.setParameter("target", world_model()->getTheirGoalCenter());
       kick_skill.setParameter("kick_power", 0.8);
-      kick_skill.setParameter("dot_threshold", 0.95);
+      kick_skill.setParameter("dot_threshold", 0.9);
       kick_skill.setParameter("kick_with_chip", true);
       return kick_skill.run(visualizer);
     });
 
   addTransition(AttackerState::ENTRY_POINT, AttackerState::RECEIVE_BALL, [this]() -> bool {
-    // TODO(HansRobo): もうちょっと条件を考える
-    // 当てはまらないときは受け取りに行く
-    return true;
+    return world_model()->ball.isMoving(0.2) &&
+           world_model()->ball.isMovingTowards(robot()->pose.pos);
   });
 
   addTransition(AttackerState::RECEIVE_BALL, AttackerState::ENTRY_POINT, [this]() -> bool {
@@ -407,6 +417,24 @@ Attacker::Attacker(RobotCommandWrapperBase::SharedPtr & base)
     using std::chrono_literals::operator""s;
     return robot()->ball_contact.getContactDuration() > 0.2s;
   });
+
+  addTransition(AttackerState::ENTRY_POINT, AttackerState::GO_TO_BALL, [this]() -> bool {
+    // 最終防壁
+    return true;
+  });
+
+  addTransition(AttackerState::GO_TO_BALL, AttackerState::ENTRY_POINT, [this]() -> bool {
+    // 最終防壁なので毎回戻す
+    return true;
+  });
+
+  addStateFunction(
+    AttackerState::GO_TO_BALL,
+    [this]([[maybe_unused]] const ConsaiVisualizerWrapper::SharedPtr & visualizer) -> Status {
+      // ボールに向かって移動
+      command.setTargetPosition(world_model()->ball.pos);
+      return Status::RUNNING;
+    });
 }
 
 std::shared_ptr<RobotInfo> Attacker::selectPassReceiver()

crane_robot_skills/src/steal_ball.cpp

@@ -53,18 +53,19 @@ StealBall::StealBall(RobotCommandWrapperBase::SharedPtr & base)
       auto their_frontier = world_model()->getNearestRobotWithDistanceFromPoint(
         world_model()->ball.pos, world_model()->theirs.getAvailableRobots());
       if (method == "front") {
-        command.setDribblerTargetPosition(
+        command.setTargetPosition(
           world_model()->ball.pos, getAngle(world_model()->ball.pos - robot()->pose.pos));
         command.dribble(0.5);
       } else if (method == "side") {
+        command.setTargetPosition(
+          world_model()->ball.pos, getAngle(world_model()->ball.pos - robot()->pose.pos));
         command.setTargetTheta(getAngle(world_model()->ball.pos - robot()->pose.pos));
-        if (robot()->getDistance(world_model()->ball.pos) < (0.085 - 0.030)) {
+        if (robot()->getDistance(world_model()->ball.pos) < (0.085 - 0.040)) {
           command.setDribblerTargetPosition(
             world_model()->ball.pos +
-            getVerticalVec(world_model()->ball.pos - robot()->pose.pos) * 0.3);
+            getVerticalVec(world_model()->ball.pos - robot()->pose.pos) * 0.7);
           // ロボット半径より近くに来れば急回転して刈り取れる
-          // command.setTargetTheta(
-          //  getAngle(world_model()->ball.pos - robot()->pose.pos) + M_PI / 2);
+          command.setTargetTheta(getAngle(world_model()->ball.pos - robot()->pose.pos) + M_PI / 2);
         } else {
           command.setDribblerTargetPosition(world_model()->ball.pos);
         }