Merge branch 'feature/whistle_detection' into go-first-game

Author: val-ba

src/bitbots_misc/bitbots_bringup/launch/highlevel.launch

@@ -12,6 +12,7 @@
     <arg name="vision" default="true" description="Whether the vision system should be started" />
     <arg name="workspace_status" default="true" description="Whether to publish the current workspace status"/>
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
+    <arg name="whistle_detector" default="true" description="Whether whistle detector should be started"/>
 
 
     <!-- launch game controller -->
@@ -54,10 +55,10 @@
         <include file="$(find-pkg-share bitbots_robot_filter)/launch/robot_filter.launch">
             <arg name="sim" value="$(var sim)"/>
         </include>
-        <include file="$(find-pkg-share bitbots_whistle_detector)/launch/whistle_detector.launch">
-        </include>
     </group>
-
+    <group if="$(var whistle_detector)">
+        <include file="$(find-pkg-share bitbots_whistle_detector)/launch/whistle_detector.launch"/>
+    </group>
     <!-- launch localization or fake localization -->
     <group if="$(var localization)">
         <include file="$(find-pkg-share bitbots_localization)/launch/localization.launch">

src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch

@@ -14,8 +14,9 @@
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
     <arg name="monitoring" default="true" description="Whether the system monitor and udp bridge should be started" />
     <arg name="record" default="false" description="Whether the ros bag recording should be started" />
-    <arg name="tts" default="false" description="Whether to speak" />
-    <arg unless="$(var sim)" name="fieldname" default="german_open_2026" description="Loads field settings (labor, webots, ...)." />
+    <arg name="tts" default="true" description="Whether to speak" />
+    <arg name="whistle_detector" default="true" description="Whether to detect whistles"/>
+    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, ...)." />
     <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, ...)." />
 
 
@@ -54,6 +55,7 @@
         <arg name="teamcom" value="$(var teamcom)" />
         <arg name="vision" value="$(var vision)" />
         <arg name="world_model" value="$(var world_model)" />
+        <arg name="whistle_detector" value="$(var whistle_detector)" />
     </include>
 
     <!-- load monitoring -->

…tor/bitbots_whistle_detector/__init__.py …tor/bitbots_whistle_detector/__init__.pysrc/bitbots_world_model/bitbots_whistle_detector/bitbots_whistle_detector/__init__.py renamed to src/bitbots_misc/bitbots_whistle_detector/bitbots_whistle_detector/__init__.py src/bitbots_world_model/bitbots_whistle_detector/bitbots_whistle_detector/__init__.py renamed to src/bitbots_misc/bitbots_whistle_detector/bitbots_whistle_detector/__init__.py

@@ -29,5 +29,3 @@
         ],
     },
 )
-
-# https://roboticsbackend.com/ros2-rclpy-parameter-callback/

…ots_whistle_detector/whistle_detector.py …ots_whistle_detector/whistle_detector.pysrc/bitbots_world_model/bitbots_whistle_detector/bitbots_whistle_detector/whistle_detector.py renamed to src/bitbots_misc/bitbots_whistle_detector/bitbots_whistle_detector/whistle_detector.py src/bitbots_world_model/bitbots_whistle_detector/bitbots_whistle_detector/whistle_detector.py renamed to src/bitbots_misc/bitbots_whistle_detector/bitbots_whistle_detector/whistle_detector.py

@@ -32,9 +32,6 @@
         <arg name="sim" value="$(var sim)"/>
     </include>
 
-    <include file="$(find-pkg-share bitbots_whistle_detector)/launch/whistle_detector.launch">
-    </include>
-
     <group if="$(var viz)">
         <!-- translate joint goals to joint states -->
         <node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" args="--head"/>