Version with init

Author: ayin21

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

@@ -24,11 +24,13 @@ 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", 0.08)
+        self.side_offset = parameters.get("side_offset", 0.00)
+
+
 
     def perform(self, reevaluate=False):
-        ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv[1]
-        self.side_offset = -1 * math.copysign(self.side_offset, ball_position_y_relative)
+        ball_position_y_relative = self.blackboard.world_model.get_ball_position_uv()[1]
+        self.side_offset = math.copysign(self.side_offset, ball_position_y_relative)
         pose_msg = self.blackboard.pathfinding.get_ball_goal(self.target, self.distance, self.side_offset)
         self.blackboard.pathfinding.publish(pose_msg)
 

bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -44,7 +44,7 @@ $AvoidBall
                 LEFT --> #PerformKickLeft
                 RIGHT --> #PerformKickRight
             FAR --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:map
-        NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:map + blocking:false + distance:%ball_far_approach_dist
+        NO --> @ChangeAction + action:going_to_ball + r:false, @LookAtFieldFeatures + r:false, @AvoidBallActive + r:false, @GoToBall + target:map + blocking:false + distance:%ball_far_approach_dist + side_offset:0.08
     YES --> $ReachedPathPlanningGoalPosition + threshold:%ball_far_approach_position_thresh
         YES --> @AvoidBallInactive
         NO --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:map + distance:%ball_far_approach_dist