From b14c8a9a7c18870f8618bbfec01927f7c105f29f Mon Sep 17 00:00:00 2001
From: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
Date: Thu, 30 Jan 2025 22:05:38 +0900
Subject: [PATCH] =?UTF-8?q?Attacker=E3=81=8C=E9=96=93=E9=81=95=E3=81=A3?=
 =?UTF-8?q?=E3=81=9FID=E3=82=92=E9=81=B8=E6=8A=9E=E3=81=97=E3=81=A6?=
 =?UTF-8?q?=E3=81=97=E3=81=BE=E3=81=86=E3=83=90=E3=82=B0=E3=82=92=E4=BF=AE?=
 =?UTF-8?q?=E6=AD=A3=20(#713)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../crane_game_analyzer/kick_event_detector.hpp    | 14 ++------------
 .../attacker_skill_planner.hpp                     |  9 ++-------
 .../src/crane_visualization_aggregator_node.cpp    |  2 +-
 3 files changed, 5 insertions(+), 20 deletions(-)

diff --git a/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp b/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp
index bc0e50810..da4a171d0 100644
--- a/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp
+++ b/crane_game_analyzer/include/crane_game_analyzer/kick_event_detector.hpp
@@ -58,7 +58,6 @@ class KickEventDetector
     // print detected bots
     std::optional<KickOrigin> kick_event_origin = std::nullopt;
     for (const auto & id : detected_bots.friends) {
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("aaaa"), "Detected friend: " << static_cast<int>(id));
       SvgCircleBuilder circle_builder;
       circle_builder.center(world_model.getOurRobot(id)->pose.pos)
         .radius(0.5)
@@ -71,7 +70,6 @@ class KickEventDetector
       kick_event_origin.emplace(ros_clock.now(), world_model.ball.pos, RobotIdentifier{true, id});
     }
     for (const auto & id : detected_bots.enemies) {
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("aaaa"), "Detected enemy: " << static_cast<int>(id));
       SvgCircleBuilder circle_builder;
       circle_builder.center(world_model.getTheirRobot(id)->pose.pos)
         .radius(0.5)
@@ -92,14 +90,6 @@ class KickEventDetector
         // キック中断判定
         kick_history.emplace_back(ongoing_kick_origin.value(), world_model.ball.pos);
         ongoing_kick_origin = std::nullopt;
-        SvgCircleBuilder circle_builder;
-        circle_builder.center(world_model.ball.pos)
-          .radius(3.5)
-          .stroke("green")
-          .fill("black")
-          .strokeWidth(2);
-        visualizer->add(circle_builder.getSvgString());
-        // visualizer->addCircle(world_model.ball.pos, 3.5, 2, "green", "black", 1.0, "EVENT");
       }
     }
 
@@ -108,8 +98,8 @@ class KickEventDetector
       SvgLineBuilder line_builder;
       line_builder.start(ongoing_kick_origin.value().position)
         .end(world_model.ball.pos)
-        .stroke("red")
-        .strokeWidth(2);
+        .stroke("red", 0.3)
+        .strokeWidth(200);
       visualizer->add(line_builder.getSvgString());
       // visualizer->addTube(
       //   world_model.ball.pos, ongoing_kick_origin.value().position,
diff --git a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp
index 89d1c6ad7..5f34bda97 100644
--- a/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp
+++ b/session/crane_planner_plugins/include/crane_planner_plugins/attacker_skill_planner.hpp
@@ -82,11 +82,8 @@ class AttackerSkillPlanner : public PlannerBase
     const std::unordered_map<uint8_t, RobotRole> & prev_roles, PlannerContext & context)
     -> std::vector<uint8_t> override
   {
-    std::cout << "AttackerSkillPlanner::getSelectedRobots: " << selectable_robots << std::endl;
     if (auto our_frontier = world_model->getOurFrontier();
         our_frontier && ranges::contains(selectable_robots, our_frontier->robot->id)) {
-      std::cout << "有効なフロンティア、" << static_cast<int>(our_frontier->robot->id) << "を選択"
-                << std::endl;
       auto base =
         std::make_shared<RobotCommandWrapperBase>("attacker", our_frontier->robot->id, world_model);
       skill = std::make_shared<skills::Attacker>(base);
@@ -101,13 +98,11 @@ class AttackerSkillPlanner : public PlannerBase
         },
         prev_roles, context);
       if (not selected_robots.empty()) {
-        std::cout << "ボールに一番近いロボット、" << static_cast<int>(selected_robots.front())
-                  << "を選択" << std::endl;
         auto base = std::make_shared<RobotCommandWrapperBase>(
-          "attacker", selectable_robots.front(), world_model);
+          "attacker", selected_robots.front(), world_model);
         skill = std::make_shared<skills::Attacker>(base);
       }
-      return selected_robots;
+      return {selected_robots.front()};
     }
   }
 };
diff --git a/utility/crane_visualization_aggregator/src/crane_visualization_aggregator_node.cpp b/utility/crane_visualization_aggregator/src/crane_visualization_aggregator_node.cpp
index 81021ded1..c79777ecc 100644
--- a/utility/crane_visualization_aggregator/src/crane_visualization_aggregator_node.cpp
+++ b/utility/crane_visualization_aggregator/src/crane_visualization_aggregator_node.cpp
@@ -29,7 +29,7 @@ class VisualizationAggregator : public rclcpp::Node
       });
     publisher =
       create_publisher<crane_visualization_interfaces::msg::SvgLayerArray>("/aggregated_svgs", 10);
-    timer = create_wall_timer(std::chrono::milliseconds(100), [this]() {
+    timer = create_wall_timer(std::chrono::milliseconds(16), [this]() {
       crane_visualization_interfaces::msg::SvgLayerArray msg;
 
       for (const auto & [layer, primitives] : layers) {