From eb923b4489a0737d1b8125da892b5f7a5becaaad Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 30 May 2026 17:56:16 +0900 Subject: [PATCH] =?UTF-8?q?fix(crane=5Fsender):=20SSL=E3=82=B7=E3=83=9F?= =?UTF-8?q?=E3=83=A5=E3=83=AC=E3=83=BC=E3=82=BF=E3=81=AEkick=5Fangle?= =?UTF-8?q?=E3=82=92=E5=BA=A6=E5=8D=98=E4=BD=8D=E3=81=A7=E9=80=81=E4=BF=A1?= =?UTF-8?q?=E3=81=99=E3=82=8B=E3=82=88=E3=81=86=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_sender/src/ibis_sender_node.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/crane_sender/src/ibis_sender_node.cpp b/crane_sender/src/ibis_sender_node.cpp index a2b4ac3ac..f88ced33f 100644 --- a/crane_sender/src/ibis_sender_node.cpp +++ b/crane_sender/src/ibis_sender_node.cpp @@ -393,7 +393,9 @@ class IbisSenderNode : public SenderBase cmd->set_allocated_move_command(move_command); const auto kick = computeKick(command.kick_power, command.chip_enable); - cmd->set_kick_angle(kick.angle_rad); + // ssl_simulation_robot_control.proto の kick_angle は度単位を要求するため、 + // ラジアンから度へ変換して渡す（grSim 経路は cos/sin に渡すためラジアンのまま）。 + cmd->set_kick_angle(kick.angle_rad * 180.0 / M_PI); cmd->set_kick_speed(kick.speed); cmd->set_dribbler_speed(command.dribble_power * 1000.0); }