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Comp merge: ateam_common #419

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Merged
barulicm merged 4 commits into from
Jul 6, 2026
Merged

Comp merge: ateam_common #419

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4a88e4a
Imports ateam_common changes from comp branch
barulicm Jul 6, 2026
aad33a3
Fixes reference to kDefaultDribblerSetpoint
barulicm Jul 6, 2026
733498f
Fixes references to kDefaultDribblerSetpoint
barulicm Jul 6, 2026
59c2251
Merge remote-tracking branch 'origin/main' into dev/barulicm/comp/common
barulicm Jul 6, 2026
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4 changes: 1 addition & 3 deletions ateam_common/CMakeLists.txt
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Expand Up @@ -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)
Expand All @@ -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(${PROJECT_NAME}
rclcpp
rclcpp_components
ateam_geometry
ateam_msgs
angles
Expand All @@ -48,7 +46,7 @@ target_include_directories(${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/
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4 changes: 2 additions & 2 deletions ateam_common/include/ateam_common/game_controller_listener.hpp
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Expand Up @@ -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
};
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2 changes: 1 addition & 1 deletion ateam_common/include/ateam_common/robot_constants.hpp
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Expand Up @@ -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_
1 change: 0 additions & 1 deletion ateam_common/package.xml
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Expand Up @@ -10,7 +10,6 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>boost</depend>
<depend>eigen3_cmake_module</depend>
<depend>ateam_geometry</depend>
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2 changes: 1 addition & 1 deletion ateam_joystick_control/src/joystick_control_node.cpp
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Expand Up @@ -101,7 +101,7 @@ class JoystickControlNode : public rclcpp::Node
using TriggerFunction = std::function<bool(const sensor_msgs::msg::Joy & )>;

std::string command_topic_template_;
float dribbler_speed_ = kDefaultDribblerSpeed;
float dribbler_speed_ = kDefaultDribblerSetpoint;
sensor_msgs::msg::Joy prev_joy_msg_;

TriggerFunction kick_trigger_;
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2 changes: 1 addition & 1 deletion ateam_kenobi/src/skills/capture.cpp
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Expand Up @@ -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;
}
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2 changes: 1 addition & 1 deletion ateam_kenobi/src/skills/extract.cpp
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Expand Up @@ -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;
}
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2 changes: 1 addition & 1 deletion ateam_kenobi/src/skills/intercept.cpp
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Expand Up @@ -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;
}
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4 changes: 2 additions & 2 deletions ateam_kenobi/src/skills/pass_receiver.cpp
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Expand Up @@ -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;
}

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4 changes: 2 additions & 2 deletions ateam_kenobi/src/skills/pivot_kick.cpp
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Expand Up @@ -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;
}
Expand All @@ -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()) {
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