reset code to normal state

Author: sWintermoor

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py

@@ -131,6 +131,7 @@ def perform(self, reevaluate=False):
 
 
 class RLKick(AbstractKickAction):
+    # TODO: Currently no connection between this class and rl kick policy
     def __init__(self, blackboard, dsd, parameters):
         super().__init__(blackboard, dsd, parameters)
 
@@ -141,7 +142,7 @@ def __init__(self, blackboard, dsd, parameters):
         self.penalty_kick_angle = self.blackboard.config["penalty_kick_angle"]
 
     def perform(self, reevaluate=False):
-        #TODO: Check whether relevant
+        # TODO: Check whether relevant
         ball_pose = PoseStamped()
         ball_pose.header.stamp = self.blackboard.node.get_clock().now().to_msg()
         ball_pose.header.frame_id = self.blackboard.world_model.base_footprint_frame

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/demo.dsd

@@ -2,10 +2,10 @@
 @ChangeAction + action:searching, @LookAtFieldFeatures, @WalkInPlace + duration:3, @Turn
 
 #PerformKickLeft
-@ChangeAction + action:kicking, @LookAtFront, @RLKick + foot:left + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
+@ChangeAction + action:kicking, @LookAtFront, @WalkKick + foot:left + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
 
 #PerformKickRight
-@ChangeAction + action:kicking, @LookAtFront, @RLKick + foot:right + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
+@ChangeAction + action:kicking, @LookAtFront, @WalkKick + foot:right + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
 
 #KickWithAvoidance
 $AvoidBall

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

@@ -21,10 +21,10 @@ $DoOnce
 @ChangeAction + action:waiting + r:false, @PlayAnimationInitInSim + r:false, @LookAtFieldFeatures + r:false, @GetWalkready + r:false, @WalkInPlace
 
 #PerformKickLeft
-@ChangeAction + action:kicking, @LookAtFront, @RLKick + foot:left + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
+@ChangeAction + action:kicking, @LookAtFront, @WalkKick + foot:left + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
 
 #PerformKickRight
-@ChangeAction + action:kicking, @LookAtFront, @RLKick + foot:right + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
+@ChangeAction + action:kicking, @LookAtFront, @WalkKick + foot:right + r:false, @WalkInPlace + duration:1 + r:false, @ForgetBall + r:false, @WalkInPlace + duration:1 + r:false, @LookAtFieldFeatures + r:false
 
 #Dribble
 @ChangeAction + action:going_to_ball, @CancelPathplanning, @LookAtFront, @DribbleForward

src/bitbots_misc/bitbots_bringup/launch/motion.launch

@@ -60,12 +60,13 @@
     -->
 
 
-     <!--launch rl policies--> 
+     <!--launch rl policies (currently diabled) 
     <group if="$(var rl_policies)">
         <node pkg="bitbots_rl_motion" exec="run_policies" output="screen">
             <param name="use_sim_time" value="$(var sim)"/>
         </node>
     </group>
+    -->
 
     <!-- launch dynup -->
     <include file="$(find-pkg-share bitbots_dynup)/launch/dynup.launch">