fix(world_model_publisher): Tracker欠落時の短期LOST判定を抑制

crane_bringup/launch/crane.launch.xml

@@ -47,7 +47,7 @@ limitations under the License.
   <!-- sim=falseの場合（公式ポート） -->
   <let name="vision_port_final" value="10006" if="$(eval &quot;'$(var vision_port)' == '' and '$(var sim)' == 'false'&quot;)"/>
   <let name="referee_port_final" value="10003" if="$(eval &quot;'$(var referee_port)' == '' and '$(var sim)' == 'false'&quot;)"/>
-  <let name="tracker_port_final" value="10010" if="$(eval &quot;'$(var tracker_port)' == '' and '$(var sim)' == 'false'&quot;)"/>
+  <let name="tracker_port_final" value="11010" if="$(eval &quot;'$(var tracker_port)' == '' and '$(var sim)' == 'false'&quot;)"/>
 
   <!-- ユーザー指定がある場合はそれを使用 -->
   <let name="vision_port_final" value="$(var vision_port)" unless="$(eval &quot;'$(var vision_port)' == ''&quot;)"/>
@@ -60,7 +60,7 @@ limitations under the License.
   <!-- ============================================================ -->
   <!-- ロボット性能パラメータ -->
   <!-- ============================================================ -->
-  <arg name="max_vel" default="8.0" description="ロボットの最大速度 [m/s]"/>
+  <arg name="max_vel" default="4.0" description="ロボットの最大速度 [m/s]"/>
 
   <!-- Slack時間計算パラメータ -->
   <arg name="slack.robot_max_acceleration" default="2.5" description="slack時間計算に用いるロボットの最大加速度 [m/s^2]"/>
@@ -81,7 +81,7 @@ limitations under the License.
   <arg name="robot_acceleration.velocity_threshold" default="1.0" description="高速域・低速域のしきい値 [m/s]"/>
 
   <!-- 経路計画用の減速度パラメータ（実行側の90%以下に設定して計画と実行の不一致によるオーバーシュートを防止） -->
-  <arg name="planning_deceleration" default="1.5" description="減速計算用の減速度 [m/s^2]"/>
+  <arg name="planning_deceleration" default="1.0" description="減速計算用の減速度 [m/s^2]"/>
   <!-- 経路計画用の加速度パラメータ（加速フェーズ専用、減速度より高い値を設定可能） -->
   <arg name="planning_acceleration" default="3.0" description="加速フェーズの計画用加速度 [m/s^2]"/>
 

crane_robot_skills/include/crane_robot_skills/attacker.hpp

@@ -11,7 +11,7 @@
 #include <crane_geometry/boost_geometry.hpp>
 #include <crane_geometry/interval.hpp>
 #include <crane_robot_skills/goal_kick.hpp>
-#include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/receive.hpp>
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
@@ -64,7 +64,7 @@ class Attacker : public SkillBaseWithState
 
   int forced_pass_receiver_id = -1;
 
-  Kick kick_skill;
+  KickOld kick_skill;
 
   GoalKick goal_kick_skill;
 
@@ -74,7 +74,7 @@ class Attacker : public SkillBaseWithState
   void onPostUpdate() override;
 
 private:
-  void configurePassKick(const Point & target, Kick & kick_skill);
+  void configurePassKick(const Point & target, KickOld & kick_skill);
 
   // KICK状態の進捗タイムアウト用
   std::chrono::steady_clock::time_point kick_state_entry_time{};

crane_robot_skills/include/crane_robot_skills/goal_kick.hpp

@@ -8,7 +8,7 @@
 #define CRANE_ROBOT_SKILLS__GOAL_KICK_HPP_
 
 #include <crane_geometry/vector2d_adapter.hpp>
-#include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
 
@@ -26,7 +26,7 @@ class GoalKick : public SkillBase
 
   Status update() override;
 
-  Kick kick_skill;
+  KickOld kick_skill;
 
   static double getBestAngleToShootFromPoint(
     double minimum_angle_accuracy, const Point from_point,

crane_robot_skills/include/crane_robot_skills/goalie.hpp

@@ -9,7 +9,7 @@
 
 #include <chrono>
 #include <crane_geometry/vector2d_adapter.hpp>
-#include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
 #include <string>
@@ -35,7 +35,7 @@ class Goalie : public SkillBase
 
   std::string phase;
 
-  Kick kick_skill;
+  KickOld kick_skill;
 
   std::optional<Point> prev_wait_point;
 

crane_robot_skills/include/crane_robot_skills/kick_old.hpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2023 ibis-ssl
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file or at
+// https://opensource.org/licenses/MIT.
+
+#ifndef CRANE_ROBOT_SKILLS__KICK_OLD_HPP_
+#define CRANE_ROBOT_SKILLS__KICK_OLD_HPP_
+
+#include <crane_geometry/vector2d_adapter.hpp>
+#include <crane_robot_skills/skill_base.hpp>
+#include <memory>
+
+namespace crane::skills
+{
+// 983f026a（2025-09-14）以前の回り込みアルゴリズム（move_direction ベース 2 フェーズ）
+enum class KickOldState {
+  ENTRY_POINT,
+  AROUND_BALL_AND_KICK,
+};
+
+class KickOld : public SkillBaseWithState
+{
+private:
+  static std::string getStateName(int s);
+
+public:
+  template <typename... Args>
+  explicit KickOld(Args &&... args)
+  : SkillBaseWithState(
+      static_cast<int>(KickOldState::ENTRY_POINT), &KickOld::getStateName, "kick_old",
+      std::forward<Args>(args)...)
+  {
+    initialize();
+  }
+
+  auto getBallExitPointFromField(const double offset = 0.3) -> Point;
+
+private:
+  void initialize();
+
+  void kickWithChip();
+
+  void kickStraight();
+};
+}  // namespace crane::skills
+#endif  // CRANE_ROBOT_SKILLS__KICK_OLD_HPP_

crane_robot_skills/include/crane_robot_skills/penalty_kick.hpp

@@ -9,7 +9,7 @@
 
 #include <crane_geometry/interval.hpp>
 #include <crane_geometry/vector2d_adapter.hpp>
-#include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
 #include <utility>
@@ -45,7 +45,7 @@ class PenaltyKick : public SkillBaseWithState
     return static_cast<PenaltyKickState>(SkillBaseWithState::getCurrentState());
   }
 
-  Kick kick_skill;
+  KickOld kick_skill;
 
   std::optional<Point> start_ball_point = std::nullopt;
 };

crane_robot_skills/include/crane_robot_skills/simple_kickoff.hpp

@@ -9,13 +9,11 @@
 
 #include <algorithm>
 #include <crane_geometry/vector2d_adapter.hpp>
-#include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/goal_kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/skill_base.hpp>
 #include <memory>
-#include <string>
-#include <unordered_map>
 #include <utility>
-#include <vector>
 
 namespace crane::skills
 {
@@ -24,16 +22,16 @@ class SimpleKickOff : public SkillBase
 public:
   template <typename... Args>
   explicit SimpleKickOff(Args &&... args)
-  : SkillBase("simple_kickoff", std::forward<Args>(args)...), kick_skill(command)
+  : SkillBase("simple_kickoff", std::forward<Args>(args)...),
+    kick_skill(command),
+    goal_kick_skill(command)
   {
-    initializeParameters();
   }
 
-  void initializeParameters();
-
   Status update() override;
 
-  Kick kick_skill;
+  KickOld kick_skill;
+  GoalKick goal_kick_skill;
 
 private:
   bool kicked = false;

crane_robot_skills/include/crane_robot_skills/skills.hpp

@@ -19,6 +19,7 @@
 #include <crane_robot_skills/goalie.hpp>
 #include <crane_robot_skills/idle.hpp>
 #include <crane_robot_skills/kick.hpp>
+#include <crane_robot_skills/kick_old.hpp>
 #include <crane_robot_skills/marker.hpp>
 #include <crane_robot_skills/receive.hpp>
 #include <crane_robot_skills/second_threat_defender.hpp>

crane_robot_skills/src/attacker.cpp

@@ -358,7 +358,7 @@ void Attacker::onPostUpdate()
   }
 }
 
-void Attacker::configurePassKick(const Point & target, Kick & kick_skill)
+void Attacker::configurePassKick(const Point & target, KickOld & kick_skill)
 {
   auto pass_analysis = getPassAnalysis(
     world_model()->ball().pos, target, world_model()->theirs().robotsWhere().available().get());

crane_robot_skills/src/kick.cpp

@@ -107,7 +107,7 @@ void Kick::initialize()
       // 角度が合っている場合のみキックゾーンに入ったと判断し、ボールに向かって押し込む
       if (angle_ok && bg::distance(ball_kick_zone, robot()->pose.pos) < 0.15) {
         command->disableCollisionAvoidance();
-        return 0.5;
+        return 0.3;
       } else {
         return 0.0;
       }