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ros-sports / soccer_interfaces

A set of packages which contain common soccer interface files
Apache License 2.0
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soccer-model-msgs #43

Closed ijnek closed 2 years ago

ijnek commented 2 years ago

Signed-off-by: Kenji Brameld kenjibrameld@gmail.com

Flova commented 2 years ago

The msgs are missing array messages as well as "stamped" ones with a header.

Flova commented 2 years ago

Nice! What are your opinions on stamped non array msgs? At this processing stage a single instance might be a realistic content. E.g. our ball Kalman filter has only one state (distribution) that is published and it would be weird to use an array for that. Also a world model might determine one teams goalie and publish his position on a separate topic.

ijnek commented 2 years ago

In regards to the Ball, I expected most behaviours to only work with one ball hypothesis, so I am happy to change that message to a non-array message (I'll try get to it tomorrow). In regards to the goalie position, in my team we never tracked the goalie specifically, so I'm not sure what type of message we should add. Is the goalie position estimation something you already have, or is it something you might have in the future?

Flova commented 2 years ago

In regards to the Ball, I expected most behaviours to only work with one ball hypothesis, so I am happy to change that message to a non-array message (I'll try get to it tomorrow). In regards to the goalie position, in my team we never tracked the goalie specifically, so I'm not sure what type of message we should add. Is the goalie position estimation something you already have, or is it something you might have in the future?

The goalie thing was just something I made up as a potential use case. I would be consistent and add them for the other classes as well as I am certain that somebody has a use for that, but it does not affect the bit-bots software stack at the moment.

ijnek commented 2 years ago

In that case let's try and get these basic msgs merged, and consider adding other model msgs in the future. Teams are always free to use their own msgs.

Flova commented 2 years ago

I am happy to merge them if the following points are implemented:

ijnek commented 2 years ago

Agreed.

I've removed BallArray, and included the header file in Ball.msg, rather than having a Ball and BallStamped. I've added twist for robots.

ijnek commented 2 years ago

@Flova please approve/request-changes when available