fix wrong capsule usage in whislte detection for localization

Author: val-ba

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

@@ -8,10 +8,10 @@ class WhistleDetected(AbstractDecisionElement):
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
         self.blackboard = blackboard
-        self.last_timestep_whistle_detected = self.blackboard.last_timestep_whistle_detected
+        self.last_timestep_whistle_detected = self.blackboard.gamestate.last_timestep_whistle_detected
 
     def perform(self, reevaluate=False):
-        if self.last_timestep_whistle_detected == self.blackboard.last_timestep_whistle_detected:
+        if self.last_timestep_whistle_detected == self.blackboard.gamestate.last_timestep_whistle_detected:
             return "NOT_DETECTED"
         return "DETECTED"
 

src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py

@@ -52,7 +52,7 @@ def init(node: Node):
     node.create_subscription(
         Empty,
         "whistle_detected",
-        blackboard.gamestate.whistle_detection_callback,
+        blackboard.whistle_detection_callback,
         qos_profile=1,
         callback_group=MutuallyExclusiveCallbackGroup(),
     )