Feature/hsl gamecontroller migration#767
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texhnolyze merged 14 commits intomainfrom Mar 12, 2026
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cleWu03
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All relevant changes should be included and correct
texhnolyze
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Mar 12, 2026
| self.free_kick_kickoff_team: Optional[bool] = None | ||
| self.game_controller_stop: bool = False | ||
| # publish stopped msg for hcm | ||
| self.stop_pub = node.create_publisher(Bool, "game_controller/stop_msg", 1) |
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This is sent to the HCM. I think in the HCM we also subscribe to the Gamestate, so there we could handle it ourselves without needing an extra publisher.
| FIRST --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_first | ||
| SECOND --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition + mode:freekick_second | ||
| THIRD --> @ChangeAction + action:positioning, @LookAtFieldFeatures, @AvoidBallActive, @GoToDefensePosition | ||
| YES --> $RankToBallNoGoalie |
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We assume normal behavior in default situations, maybe this could be improved?
| def perform(self, reevaluate=False): | ||
| # Check of the fallen detection is active | ||
| if not self.blackboard.is_stand_up_active: | ||
| self.publish_if_fallen(False) |
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Apparently there is a RobotControlState where we could read the info if we are fallen from, not requiring extra logic here.
texhnolyze
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Mar 12, 2026
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| def create_publishers(self): | ||
| self.team_data_publisher = self.node.create_publisher(TeamData, self.topics["team_data_topic"], qos_profile=1) | ||
| self.game_controller_player_pose_publisher = self.node.create_publisher( |
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Instead of having multiple messages with different object I think it might make sense to adjust https://github.com/bit-bots/game_controller_hsl to take a single custom message according to RoboCupGameControlReturnData and collect all data for it in a single place.
texhnolyze
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Mar 12, 2026
| self.ball_state_position = numpify(ball_measurement_map.point) | ||
| self.ball_state_covariance = covariance | ||
| # @TODO: actually give last ball time | ||
| self.last_ball_time = self.get_clock().now() |
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We don't have the ball_age right now. This should be adapted
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to `game_controller_hsl` as the new [Gamecontroller] only expectes an `(x, y)` coordinate. [Gamecontroller]: https://github.com/RoboCup-HumanoidSoccerLeague/GameController/
…in bodybehaviour too
…/lib/game_controller_hsl subrepo: subdir: "src/lib/game_controller_hsl" merged: "b92a26936" upstream: origin: "git@github.com:bit-bots/game_controller_hsl.git" branch: "rolling" commit: "b92a26936" git-subrepo: version: "0.4.9" origin: "https://github.com/ingydotnet/git-subrepo" commit: "ea10886"
so we don't have to fix cpp code and formatting rule changes
texhnolyze
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as we will fix them in our fork `bit-bots/game_controller_hsl`
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Summary
I've tried to extract, clean up and condense the game controller changes...
And there still is some stuff I'd like to improve ideally, before merging (i.e. remove TODOs, don't make HCM depend on behavior for game controller, move publishing of return data to central place and maybe create a full custom Message for the whole return object to the gamecontroller in https://github.com/bit-bots/game_controller_hsl reducing the number of pub/subs one needs).
We will just do the fixes/changes at a later stage, after the competition (see comments).
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