decide for kicking depending on distance of seen robots

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py

@@ -41,6 +41,8 @@ def __init__(self, node, blackboard):
         self.map_margin: float = self.body_config["map_margin"]
         self.obstacle_costmap_smoothing_sigma: float = self.body_config["obstacle_costmap_smoothing_sigma"]
         self.obstacle_cost: float = self.body_config["obstacle_cost"]
+        self.closest_robot_infront_dist: float = 10000.0
+        self.closest_robot_behind_dist: float = 10000.0
 
         # Publisher for visualization in RViZ
         self.costmap_publisher = self._node.create_publisher(OccupancyGrid, "debug/costmap", 1)
@@ -61,6 +63,8 @@ def robot_callback(self, msg: RobotArray) -> None:
         """
         # Init a new obstacle costmap
         obstacle_map = np.zeros_like(self.costmap)
+        self.closest_robot_infront_dist = 10000.0
+        self.closest_robot_behind_dist = 10000.0
         # Iterate over all robots
         robot: Robot
         for robot in msg.robots:
@@ -69,6 +73,16 @@ def robot_callback(self, msg: RobotArray) -> None:
             # TODO inflate
             # Draw obstacle with smoothing independent weight on obstacle costmap
             obstacle_map[idx_x, idx_y] = self.obstacle_cost * self.obstacle_costmap_smoothing_sigma
+
+            dist_to_robot = np.linalg.norm(np.array([self._blackboard.world_model.get_current_position()[0], self._blackboard.world_model.get_current_position()[1]]) - np.array([robot.bb.center.position.x,robot.bb.center.position.y]))
+            if robot.bb.center.position.x > self._blackboard.world_model.get_current_position()[0]:
+                if dist_to_robot < self.closest_robot_infront_dist:
+                    self.closest_robot_infront_dist = dist_to_robot
+            else:
+                if dist_to_robot < self.closest_robot_behind_dist:
+                    self.closest_robot_behind_dist = dist_to_robot
+
+
         # Smooth obstacle map
         obstacle_map = gaussian_filter(obstacle_map, self.obstacle_costmap_smoothing_sigma)
         # Get pass offsets
@@ -432,3 +446,11 @@ def get_best_kick_direction(
             )
         ]
         return kick_direction
+
+    def is_other_robot_close(self, threshold_front: float, threshold_behind: float) -> bool:
+        if threshold_front > self.closest_robot_infront_dist:
+            return True
+        elif threshold_behind > self.closest_robot_behind_dist:
+            return True
+        else:
+            return False

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/dribble_or_kick.py

@@ -17,6 +17,8 @@ def __init__(self, blackboard, dsd, parameters):
         self.num_kick_angles = self.blackboard.config["num_kick_angles"]
 
         self.dribble_kick_angle = self.blackboard.config["dribble_kick_angle"]
+        self.threshold_front = parameters.get("threshold_front", 10)
+        self.threshold_behind = parameters.get("threshold_behind", 10)
 
     def perform(self, reevaluate=False):
         """
@@ -50,7 +52,12 @@ def perform(self, reevaluate=False):
         ball_near = ball_distance < self.ball_distance_threshold
         self.publish_debug_data(f"Ball distance (needs <{self.ball_distance_threshold})", ball_distance)
 
-        if oriented_to_goal and front_free and goal_far and ball_near:
+        # no other robots to close
+        other_robots_close = self.blackboard.costmap.is_other_robot_close(self.threshold_front, self.threshold_behind)
+        # actual set play situation
+        set_play_state = self.blackboard.gamestate.get_set_play()
+
+        if other_robots_close and set_play_state == 0:
             return "DRIBBLE"
         else:
             return "KICK"

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/kick_or_dribble.py

@@ -11,13 +11,20 @@ def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.target_distance = parameters.get("map_goal_target_distance", 0.5)
         self.side_offset = parameters.get("side_offset", 0.0)
+        self.threshold_front = parameters.get("threshold_front", 10)
+        self.threshold_behind = parameters.get("threshold_behind", 10)
 
     def perform(self, reevaluate=False):
         """
         Determines whether to kick or dribble based on the angle of the map goal
         """
         map_goal = self.blackboard.pathfinding.get_map_goal(self.target_distance, self.side_offset)
-        if abs(map_goal[2]) > math.pi / 2:  # point away from opponent goal, so we should dribble
+        # no other robots to close
+        other_robots_close = self.blackboard.costmap.is_other_robot_close(self.threshold_front, self.threshold_behind)
+        # actual set play situation
+        set_play_state = self.blackboard.gamestate.get_set_play()
+
+        if abs(map_goal[2]) > math.pi / 2 or (other_robots_close and set_play_state == 0):  # point away from opponent goal, so we should dribble
             return "DRIBBLE"
         else:
             return "KICK"

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -31,7 +31,7 @@ $DoOnce
         NO --> @LookAtFieldFeatures, @GoToRolePosition
 
 #KickWithAvoidance
-$KickOrDribble + map_goal_distance:%ball_approach_dist // should be same as below $GoToBall + target:map action
+$KickOrDribble + map_goal_distance:%ball_approach_dist + threshold_front:2.0 + threshold_behind:0.5
     KICK --> $DoOnce
         NOT_DONE --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:rl_kick + blocking:false
         DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:%rl_kick_approach_tolerance_pos + orientation_threshold:%rl_kick_approach_tolerance_deg + latch:true