From 4a88e4afd2a03f471bf376e44f922e89ee9d8275 Mon Sep 17 00:00:00 2001 From: Matthew Barulic Date: Mon, 6 Jul 2026 15:06:34 +0900 Subject: [PATCH 1/3] Imports ateam_common changes from comp branch --- ateam_common/CMakeLists.txt | 4 +--- .../include/ateam_common/game_controller_listener.hpp | 4 ++-- ateam_common/include/ateam_common/robot_constants.hpp | 2 +- ateam_common/package.xml | 1 - 4 files changed, 4 insertions(+), 7 deletions(-) diff --git a/ateam_common/CMakeLists.txt b/ateam_common/CMakeLists.txt index 617a8a615..f78386bd9 100644 --- a/ateam_common/CMakeLists.txt +++ b/ateam_common/CMakeLists.txt @@ -3,7 +3,6 @@ project(ateam_common) find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) -find_package(rclcpp_components REQUIRED) find_package(Boost REQUIRED) find_package(Protobuf REQUIRED) find_package(eigen3_cmake_module REQUIRED) @@ -26,7 +25,6 @@ target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_20) target_compile_options(${PROJECT_NAME} PRIVATE -Werror -Wall -Wextra -Wpedantic) ament_target_dependencies(${PROJECT_NAME} rclcpp - rclcpp_components ateam_geometry ateam_msgs angles @@ -48,7 +46,7 @@ target_include_directories(${PROJECT_NAME} set_property(TARGET ${PROJECT_NAME} PROPERTY ENABLE_EXPORTS ON) ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) -ament_export_dependencies(Boost Protobuf angles ateam_geometry) +ament_export_dependencies(rclcpp ateam_geometry ateam_msgs angles ssl_league_msgs Eigen3 Boost Protobuf) install( DIRECTORY include/ diff --git a/ateam_common/include/ateam_common/game_controller_listener.hpp b/ateam_common/include/ateam_common/game_controller_listener.hpp index b580fa82f..cff5683a6 100644 --- a/ateam_common/include/ateam_common/game_controller_listener.hpp +++ b/ateam_common/include/ateam_common/game_controller_listener.hpp @@ -46,8 +46,8 @@ enum class GameStage ExtraTimeHalftime = 8, ExtraTimePreSecondHalf = 9, ExtraTimeSecondHalf = 10, - PenaltyBreak = 11, - Penalty = 12, + PenaltyShootoutBreak = 11, + PenaltyShootout = 12, PostGame = 13, Unknown = 14 }; diff --git a/ateam_common/include/ateam_common/robot_constants.hpp b/ateam_common/include/ateam_common/robot_constants.hpp index c1bc0c83b..b75b254be 100644 --- a/ateam_common/include/ateam_common/robot_constants.hpp +++ b/ateam_common/include/ateam_common/robot_constants.hpp @@ -39,6 +39,6 @@ const Eigen::Vector3d kMaxRobotAccel = Eigen::Vector3d(3, 3, 36); constexpr double kBallDiameter = 0.04267; constexpr double kBallRadius = kBallDiameter / 2; -constexpr double kDefaultDribblerSpeed = 300; +constexpr double kDefaultDribblerSetpoint = 0.025; #endif // ATEAM_COMMON__ROBOT_CONSTANTS_HPP_ diff --git a/ateam_common/package.xml b/ateam_common/package.xml index d399e6443..59abfd1d9 100644 --- a/ateam_common/package.xml +++ b/ateam_common/package.xml @@ -10,7 +10,6 @@ ament_cmake rclcpp - rclcpp_components boost eigen3_cmake_module ateam_geometry From aad33a39b586f7474bb5b93bea88b9ed2f19e134 Mon Sep 17 00:00:00 2001 From: Matthew Barulic Date: Mon, 6 Jul 2026 15:40:27 +0900 Subject: [PATCH 2/3] Fixes reference to kDefaultDribblerSetpoint --- ateam_joystick_control/src/joystick_control_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ateam_joystick_control/src/joystick_control_node.cpp b/ateam_joystick_control/src/joystick_control_node.cpp index 68cda57af..c70d19b9f 100644 --- a/ateam_joystick_control/src/joystick_control_node.cpp +++ b/ateam_joystick_control/src/joystick_control_node.cpp @@ -101,7 +101,7 @@ class JoystickControlNode : public rclcpp::Node using TriggerFunction = std::function; std::string command_topic_template_; - float dribbler_speed_ = kDefaultDribblerSpeed; + float dribbler_speed_ = kDefaultDribblerSetpoint; sensor_msgs::msg::Joy prev_joy_msg_; TriggerFunction kick_trigger_; From 733498faed43e1055b3856719f03ca31aa4d57d9 Mon Sep 17 00:00:00 2001 From: Matthew Barulic Date: Mon, 6 Jul 2026 16:05:54 +0900 Subject: [PATCH 3/3] Fixes references to kDefaultDribblerSetpoint --- ateam_kenobi/src/skills/capture.cpp | 2 +- ateam_kenobi/src/skills/extract.cpp | 2 +- ateam_kenobi/src/skills/intercept.cpp | 2 +- ateam_kenobi/src/skills/pass_receiver.cpp | 4 ++-- ateam_kenobi/src/skills/pivot_kick.cpp | 4 ++-- 5 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ateam_kenobi/src/skills/capture.cpp b/ateam_kenobi/src/skills/capture.cpp index dff715ff1..6c6af8dc5 100644 --- a/ateam_kenobi/src/skills/capture.cpp +++ b/ateam_kenobi/src/skills/capture.cpp @@ -119,7 +119,7 @@ RobotCommand Capture::runCapture(const World & world, const Robot & robot) command.motion_intent = intent; } - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; return command; } diff --git a/ateam_kenobi/src/skills/extract.cpp b/ateam_kenobi/src/skills/extract.cpp index 0af2b0936..264ea43f3 100644 --- a/ateam_kenobi/src/skills/extract.cpp +++ b/ateam_kenobi/src/skills/extract.cpp @@ -74,7 +74,7 @@ RobotCommand Extract::RunFrame(const World & world, const Robot & robot) command.motion_intent = intent; if (robot.breakbeam_ball_detected) { - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; } return command; } diff --git a/ateam_kenobi/src/skills/intercept.cpp b/ateam_kenobi/src/skills/intercept.cpp index 615635603..5b2d67242 100644 --- a/ateam_kenobi/src/skills/intercept.cpp +++ b/ateam_kenobi/src/skills/intercept.cpp @@ -157,7 +157,7 @@ ateam_msgs::msg::RobotMotionCommand Intercept::runIntercept( easy_move_to_.setTargetPosition(world.ball.pos); auto command = easy_move_to_.runFrame(robot, world); - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; return command; } diff --git a/ateam_kenobi/src/skills/pass_receiver.cpp b/ateam_kenobi/src/skills/pass_receiver.cpp index bd24d5f53..c4552a7d6 100644 --- a/ateam_kenobi/src/skills/pass_receiver.cpp +++ b/ateam_kenobi/src/skills/pass_receiver.cpp @@ -167,14 +167,14 @@ RobotCommand PassReceiver::runPass(const World & world, const Robot & robot) intent.planner_options.avoid_ball = false; RobotCommand command; command.motion_intent = intent; - command.dribbler_speed = kDefaultDribblerSpeed * 1.2; + command.dribbler_speed = kDefaultDribblerSetpoint * 1.2; return command; } RobotCommand PassReceiver::runPostPass() { RobotCommand command; - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; return command; } diff --git a/ateam_kenobi/src/skills/pivot_kick.cpp b/ateam_kenobi/src/skills/pivot_kick.cpp index 69141020f..f55cfa74e 100644 --- a/ateam_kenobi/src/skills/pivot_kick.cpp +++ b/ateam_kenobi/src/skills/pivot_kick.cpp @@ -105,7 +105,7 @@ RobotCommand PivotKick::Pivot(const Robot & robot) RobotCommand command; command.motion_intent = intent; - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; return command; } @@ -121,7 +121,7 @@ RobotCommand PivotKick::KickBall(const Robot & robot) command.motion_intent = intent; - command.dribbler_speed = kDefaultDribblerSpeed; + command.dribbler_speed = kDefaultDribblerSetpoint; command.kick_speed = GetKickSpeed(); if (IsAllowedToKick()) {