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fix(crane_sender): SSLシミュレータのkick_angleを度単位で送信するよう修正 #1380

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fix(crane_sender): SSLシミュレータのkick_angleを度単位で送信するよう修正 #1380

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4 changes: 3 additions & 1 deletion crane_sender/src/ibis_sender_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
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