Tune parameters for go (#668)

Author: jaagut

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py

@@ -22,7 +22,7 @@ def __init__(self, blackboard, dsd, parameters):
         self.blocking = parameters.get("blocking", True)
         self.distance = parameters.get("distance", self.blackboard.config["ball_approach_dist"])
         # Offset so we kick the ball with one foot instead of the center between the feet
-        self.side_offset = parameters.get("side_offset", 0.05)
+        self.side_offset = parameters.get("side_offset", 0.08)
 
     def perform(self, reevaluate=False):
         pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)

bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml

@@ -61,7 +61,7 @@ body_behavior:
     # An area in which the ball can be kicked
     # defined by min/max x/y values in meters which represent ball positions relative to base_footprint
     # http://www.ros.org/reps/rep-0103.html#axis-orientation
-    kick_x_enter: 0.25
+    kick_x_enter: 0.23
     kick_x_leave: 0.25
     kick_y_enter: 0.12
     kick_y_leave: 0.12
@@ -146,7 +146,7 @@ body_behavior:
     dribble_ball_distance_threshold: 0.5
     dribble_kick_angle: 0.6
 
-    kick_decision_smoothing: 1.0
+    kick_decision_smoothing: 10.0
 
     ##################
     # costmap params #

bitbots_misc/bitbots_extrinsic_calibration/config/jack.yaml

@@ -7,5 +7,5 @@
 /bitbots_extrinsic_imu_calibration:
   ros__parameters:
     offset_x: 0.06
-    offset_y: -0.085
+    offset_y: -0.0
     offset_z: 0.0

bitbots_misc/bitbots_extrinsic_calibration/config/rory.yaml

@@ -6,6 +6,6 @@
 
 /bitbots_extrinsic_imu_calibration:
   ros__parameters:
-    offset_x: 0.0
-    offset_y: 0.017
+    offset_x: -0.03
+    offset_y: -0.06
     offset_z: 0.0

bitbots_misc/bitbots_parameter_blackboard/launch/parameter_blackboard.launch

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
     <arg name="sim" default="false"/>
-    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings (labor, webots, gazebo, bangkok, spl, german_open_2024)." />
+    <arg unless="$(var sim)" name="fieldname" default="german_open_2024" description="Loads field settings (labor, webots, gazebo, bangkok, spl, german_open_2024)." />
     <arg if="$(var sim)" name="fieldname" default="webots" description="Loads field settings (labor, webots, gazebo, bangkok, german_open_2024)." />
 
     <!-- print bit-bot -->

bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml

@@ -56,7 +56,7 @@ bitbots_path_planning:
         bounds<>: [0, 100]
     max_rotation_vel:
       type: double
-      default_value: 0.6
+      default_value: 0.4
       description: 'The maximum rotation velocity of the robot in rad/s around the z-axis'
       validation:
         bounds<>: [0.0, 1.0]
@@ -98,13 +98,13 @@ bitbots_path_planning:
         bounds<>: [0.0, 1.0]
     translation_slow_down_factor:
       type: double
-      default_value: 1.0
+      default_value: 0.6
       description: 'Clamped p gain of the translation controller'
       validation:
         bounds<>: [0.0, 1.0]
     orient_to_goal_distance:
       type: double
-      default_value: 0.4
+      default_value: 0.5
       description: 'Distance at which we switch from orienting towards the path to orienting towards the goal poses orientation (in meters)'
       validation:
         bounds<>: [0.0, 10.0]