Ball search behavior - #2723
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| heatmap_decay_range: { | ||
| start: 0.0, | ||
| end: 3.0 | ||
| search_suggestor: { |
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un-nest this (remove the wrapping search_suggestor: {...})
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| let parameters = node.bind_parameter_as::<SearchSuggestorParameters>("search_suggestor")?; | ||
| let node_parameters = node.bind_parameter_as::<Parameters>("search_suggestor")?; |
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undo this change to un-nest the parameters in search_suggestor.json5
| .get_latest() | ||
| .map(|head_joints| head_joints.yaw) | ||
| .unwrap_or_default(); | ||
| if let Some(message) = blackboard.try_sending_state_message(head_yaw) { |
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can you put head_yaw into the blackboard like the other subscriptions of the behavior node instead of passing it into this function?
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Why? What?
Issue #2389
This PR adds a smarter searching behavior which uses a new heat map. While the old heat map was a probability distribution of where the ball could be the new one is a priority map which area to check when searching for the ball.
This PR helps to better search the field and make the robot actually move around when looking for the ball.
ToDo / Known Issues
This PR needs the team messages to communicate and search more efficiently and therefore will work better when #2692 is merged.
How to Test
Deploy on the robot and enter playing mode. Make sure the robot doesn't see a ball and has loca. The robot should circle around the field and look for the ball.