Better defence, goalie and supporter positions

src/bitbots_behavior/bitbots_blackboard/CMakeLists.txt

@@ -12,6 +12,9 @@ if(BUILD_TESTING)
   ament_mypy(CONFIG_FILE "${CMAKE_CURRENT_LIST_DIR}/mypy.ini")
 endif()
 
+install(DIRECTORY scripts/ USE_SOURCE_PERMISSIONS
+        DESTINATION lib/${PROJECT_NAME})
+
 ament_python_install_package(${PROJECT_NAME})
 
 ament_package()

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py

@@ -8,6 +8,7 @@
 from bitbots_blackboard.capsules.kick_capsule import KickCapsule
 from bitbots_blackboard.capsules.misc_capsule import MiscCapsule
 from bitbots_blackboard.capsules.pathfinding_capsule import PathfindingCapsule
+from bitbots_blackboard.capsules.positioning_capsule import PositioningCapsule
 from bitbots_blackboard.capsules.team_data_capsule import TeamDataCapsule
 from bitbots_blackboard.capsules.world_model_capsule import WorldModelCapsule
 
@@ -34,6 +35,7 @@ def __init__(self, node: Node, tf_buffer: tf2.BufferInterface):
         self.costmap = CostmapCapsule(self.node, self)
         self.pathfinding = PathfindingCapsule(self.node, self)
         self.team_data = TeamDataCapsule(self.node, self)
+        self.positioning = PositioningCapsule(self.node, self)
 
         self.capsules = [
             self.misc,
@@ -44,6 +46,7 @@ def __init__(self, node: Node, tf_buffer: tf2.BufferInterface):
             self.costmap,
             self.pathfinding,
             self.team_data,
+            self.positioning,
         ]
 
     def clear_cache(self):

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py

@@ -20,7 +20,6 @@ def __init__(self, node, blackboard):
         self.goalie_falling_left_animation: str = self._node.get_parameter("Animations.Goalie.fallLeft").value
         self.goalie_falling_center_animation: str = self._node.get_parameter("Animations.Goalie.fallCenter").value
         self.cheering_animation: str = self._node.get_parameter("Animations.Misc.cheering").value
-        self.init_animation: str = self._node.get_parameter("Animations.Misc.init").value
 
         self.animation_client = ActionClient(
             self._node, PlayAnimation, "animation", callback_group=ReentrantCallbackGroup()

src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py

@@ -103,6 +103,9 @@ def received_gamestate(self) -> bool:
     def get_team_id(self) -> int:
         return self.team_id
 
+    def get_own_id(self) -> int:
+        return self.own_id
+
     def gamestate_callback(self, gamestate_msg: GameState) -> None:
         if self.gamestate.penalized and not gamestate_msg.penalized:
             self.unpenalized_time = self._node.get_clock().now().nanoseconds / 1e9