Patch v2.2.9 - Fix v2.2.8 Field Regressions

v2.2.9 - Fix v2.2.8 Field Regressions

Three bugs seen running v2.2.8 on the robot, all traced to the aggressive speed push and the GlanceAtGoal node. Config/XML only - no C++ change, no recompile. Use this over v2.2.8 for matches.

Bug: robot stops midway / stops chasing completely

The v2.2.8 Chase speed of 1.8 m/s outran the head's ball tracking - the ball left the frame, ball_location_known went false after 3 s, Chase hard-stopped, and the decision flipped to find (which scans with the head while the body stands still - looked like it stopped chasing). Obstacle-avoidance veers and stop-to-turn caused the "stops midway".

• Chase vx_limit 1.8 -> 1.2 (still faster than the original 0.9, but the head keeps the ball in view), vtheta_limit 2.0 -> 1.5.
• obstacle_avoidance.chase_ao_safe_dist 1.5 -> 1.0 (avoidance only fires when genuinely close, cutting false stalls from depth misdetections).

Bug: not shooting in the correct direction

v2.2.8 near_ball_speed_limit 1.0 meant the robot reached the ball still moving fast and kicked before settling, scattering the aim.

• near_ball_speed_limit 1.0 -> 0.6 (settle before the kick). The kick-direction geometry was verified correct and is unchanged.

Bug: GlanceAtGoal is bad

The node froze the robot (setVelocity 0,0,0) for 0.6-0.9 s mid-attack and swung the head off the ball - in a live match that just loses the ball or invites a steal, and the goalposts often weren't actually reacquired.

• strategy.glance_at_goal.enable true -> false. Aim now relies on normal localization + goalpost detection during ball tracking. (Node left in place, dormant.)

Retained from v2.2.8

• soft_kickoff: true (gentle short kick-off) - that one worked as intended.

Loading

Config/XML only: ./scripts/build_brain.sh (--symlink-install, fast, no C++ recompile) then ./scripts/start.sh.

Packaging

• Source folder v2.2.9/ excludes .engine files; release asset v2.2.9.zip includes them.