Florian Vahl

Adds a tiebreaker as described in http://theory.stanford.edu/~amitp/GameProgramming/Heuristics.html#breaking-ties. This results in the following improvement:  Previous versions produced these paths: 

Tune for COCO

1

## Proposed changes - tune hyperparams - scale based on mini batch size - linear instead of step wise decay - use sgd - only log once per optimizer step...

getTopicQosProfile not reliable

3

In ros iron the QOS policy of the image proc nodes is currently determined by `getTopicQosProfile` with a default to the default sensor data qos policy. This is an issue,...

Rolling CI fails

5

## Description The build step in the rolling ci fails with what looks like a missing source command. The same CI setup passes the build step just fine for iron...

Fixes the following warning: ``` In file included from /home/bitbots/colcon_ws/src/lib/robot_controllers/robot_controllers/src/cartesian_pose.cpp:48: /opt/ros/rolling/include/tf2_geometry_msgs/tf2_geometry_msgs/tf2_geometry_msgs.h:35:2: warning: #warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead [-Wcpp] 35 | #warning This header is obsolete, please...

Only hold weak internal reference to callbacks

1

Currently, subscriptions that are not manually destroyed hold a reference to the callback. This can lead to unexpected issues where a class has a callback, which was created internally (not...

Fix duplication of team data information in robot filter

1

# Summary Currently, the poses of the other robots from the team data are added to the robot filter, but they are not deduplicated. Instead, they stack up until a...

Time independet ema for path planning smoothing

1

# Summary Currently, the path planning exponential smoothing is dependent on the update frequency of the path planning. But this can be formulated in a time independent discrete way by...

# Summary Currently the localization and behavior/parameter blackboard have different configs for the field dimension. This leads to cases where the localization looks good, but the behavior tells the robot...

Ignore usb ethernet interface in system monitor

2

# Summary Currently, our diagnostics state is on ERROR most of the time. This is due to the USB network interface getting stale after being disconnected at the start of...