SSL-A-Team · barulicm · Nov 12, 2025 · Sep 29, 2025 · Sep 29, 2025 · Sep 29, 2025
diff --git a/ateam_bringup/launch/autonomy.launch.xml b/ateam_bringup/launch/autonomy.launch.xml
@@ -15,11 +15,13 @@
   <node name="field_manager" pkg="ateam_field_manager" exec="ateam_field_manager_node" respawn="True">
     <param name="gc_team_name" value="$(var team_name)"/>
   </node>
+  <node name="game_state_tracker" pkg="ateam_game_state" exec="game_state_tracker_node" respawn="True">
+    <param name="gc_team_name" value="$(var team_name)"/>
+  </node>
   <let name="kenobi_prefix" value="$(eval '\'xterm -fg white -bg black -e gdb -ex run --args\' if (\'$(var kenobi_debug)\'.lower() == \'true\') else \'\'')"/>
   <node name="kenobi_node" pkg="ateam_kenobi" exec="ateam_kenobi_node" respawn="True" launch-prefix="$(var kenobi_prefix)">
     <param name="use_world_velocities" value="$(var use_world_velocities)"/>
     <param name="use_emulated_ballsense" value="$(var use_emulated_ballsense)"/>
-    <param name="gc_team_name" value="$(var team_name)"/>
     <param name="playbook" value="$(var kenobi_playbook)"/>
   </node>
   <node name="vader" pkg="ateam_bringup" exec="vader.py" respawn="True"/>

diff --git a/ateam_common/include/ateam_common/topic_names.hpp b/ateam_common/include/ateam_common/topic_names.hpp
@@ -49,6 +49,8 @@ constexpr std::string_view kJoystickControlStatus = "/joystick_control_status";
 
 // Output from AI
 constexpr std::string_view kRobotMotionCommandPrefix = "/robot_motion_commands/robot";
+
+constexpr std::string_view kWorld = "/world";
 }  // namespace Topics
 
 #endif  // ATEAM_COMMON__TOPIC_NAMES_HPP_
diff --git a/ateam_kenobi/CMakeLists.txt b/ateam_kenobi/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(rclcpp_components REQUIRED)
 find_package(ateam_msgs REQUIRED)
 find_package(ateam_radio_msgs REQUIRED)
 find_package(ateam_common REQUIRED)
+find_package(ateam_game_state REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(ateam_geometry REQUIRED)
@@ -34,7 +35,6 @@ target_sources(kenobi_node_component PRIVATE
   src/core/path_planning/escape_velocity.cpp
   src/core/path_planning/obstacles.cpp
   src/core/path_planning/path_planner.cpp
-  src/core/types/message_conversions.cpp
   src/core/motion/frame_conversions.cpp
   src/core/motion/motion_controller.cpp
   src/core/motion/motion_executor.cpp
@@ -123,6 +123,7 @@ ament_target_dependencies(
   "ateam_radio_msgs"
   "ateam_msgs"
   "ateam_common"
+  "ateam_game_state"
   "tf2"
   "tf2_geometry_msgs"
   "ateam_geometry"

diff --git a/ateam_kenobi/package.xml b/ateam_kenobi/package.xml
@@ -14,6 +14,7 @@
   <depend>ateam_msgs</depend>
   <depend>ateam_radio_msgs</depend>
   <depend>ateam_common</depend>
+  <depend>ateam_game_state</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>ateam_geometry</depend>

diff --git a/ateam_kenobi/src/core/ballsense_emulator.hpp b/ateam_kenobi/src/core/ballsense_emulator.hpp
@@ -27,7 +27,7 @@
 #include <array>
 #include <ateam_common/robot_constants.hpp>
 #include <ateam_geometry/normalize.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi
 {

diff --git a/ateam_kenobi/src/core/ballsense_filter.hpp b/ateam_kenobi/src/core/ballsense_filter.hpp
@@ -24,7 +24,7 @@
 
 #include <ranges>
 #include <array>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi
 {

diff --git a/ateam_kenobi/src/core/defense_area_enforcement.hpp b/ateam_kenobi/src/core/defense_area_enforcement.hpp
@@ -22,7 +22,7 @@
 #define CORE__DEFENSE_AREA_ENFORCEMENT_HPP_
 
 #include <ateam_msgs/msg/robot_motion_command.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::defense_area_enforcement
 {

diff --git a/ateam_kenobi/src/core/double_touch_eval.hpp b/ateam_kenobi/src/core/double_touch_eval.hpp
@@ -26,7 +26,7 @@
 #include <vector>
 #include <ateam_common/robot_constants.hpp>
 #include <boost/scope_exit.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 #include "core/visualization/overlays.hpp"
 
 namespace ateam_kenobi

diff --git a/ateam_kenobi/src/core/fps_tracker.hpp b/ateam_kenobi/src/core/fps_tracker.hpp
@@ -23,7 +23,7 @@
 #define CORE__FPS_TRACKER_HPP_
 
 #include <ateam_common/time.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi
 {

diff --git a/ateam_kenobi/src/core/in_play_eval.hpp b/ateam_kenobi/src/core/in_play_eval.hpp
@@ -26,7 +26,7 @@
 #include <optional>
 #include <ateam_geometry/types.hpp>
 #include <ateam_common/game_controller_listener.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi
 {

diff --git a/ateam_kenobi/src/core/motion/frame_conversions.hpp b/ateam_kenobi/src/core/motion/frame_conversions.hpp
@@ -23,7 +23,7 @@
 #define CORE__MOTION__FRAME_CONVERSIONS_HPP_
 
 #include <ateam_geometry/types.hpp>
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 #include "core/motion/motion_intent.hpp"
 
 namespace ateam_kenobi::motion

diff --git a/ateam_kenobi/src/core/motion/motion_controller.hpp b/ateam_kenobi/src/core/motion/motion_controller.hpp
@@ -27,8 +27,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <ateam_msgs/msg/robot_motion_command.hpp>
 #include <ateam_geometry/ateam_geometry.hpp>
-#include "core/types/robot.hpp"
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 #include "pid.hpp"
 #include "motion_options.hpp"
 #include "motion_intent.hpp"

diff --git a/ateam_kenobi/src/core/motion/motion_intent.hpp b/ateam_kenobi/src/core/motion/motion_intent.hpp
@@ -26,8 +26,7 @@
 #include <variant>
 #include <vector>
 #include <ateam_geometry/types.hpp>
-#include "core/types/world.hpp"
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 #include "core/path_planning/path.hpp"
 #include "core/path_planning/planner_options.hpp"
 #include "motion_options.hpp"

diff --git a/ateam_kenobi/src/core/path_planning/escape_velocity.hpp b/ateam_kenobi/src/core/path_planning/escape_velocity.hpp
@@ -24,7 +24,7 @@
 #include <vector>
 #include <ateam_geometry/types.hpp>
 #include <ateam_geometry/any_shape.hpp>
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::path_planning
 {

diff --git a/ateam_kenobi/src/core/path_planning/obstacles.cpp b/ateam_kenobi/src/core/path_planning/obstacles.cpp
@@ -171,11 +171,11 @@ bool IsPointInBounds(
   ateam_geometry::Rectangle pathable_region(ateam_geometry::Point(-x_bound, -y_bound),
     ateam_geometry::Point(x_bound, y_bound));
 
-  if (world.ignore_side > 0) {
+  if (world.field.ignore_side > 0) {
     pathable_region = ateam_geometry::Rectangle(
       ateam_geometry::Point(-x_bound, -y_bound),
       ateam_geometry::Point(0, y_bound));
-  } else if (world.ignore_side < 0) {
+  } else if (world.field.ignore_side < 0) {
     pathable_region = ateam_geometry::Rectangle(
       ateam_geometry::Point(0, y_bound),
       ateam_geometry::Point(x_bound, -y_bound));

diff --git a/ateam_kenobi/src/core/path_planning/obstacles.hpp b/ateam_kenobi/src/core/path_planning/obstacles.hpp
@@ -24,7 +24,7 @@
 
 #include <vector>
 #include <ateam_geometry/any_shape.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::path_planning
 {

diff --git a/ateam_kenobi/src/core/path_planning/path_planner.hpp b/ateam_kenobi/src/core/path_planning/path_planner.hpp
@@ -26,7 +26,7 @@
 #include <ateam_common/robot_constants.hpp>
 #include <ateam_geometry/any_shape.hpp>
 #include <ateam_geometry/types.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 #include "core/stp/base.hpp"
 #include "path.hpp"
 #include "planner_options.hpp"

diff --git a/ateam_kenobi/src/core/play_helpers/available_robots.hpp b/ateam_kenobi/src/core/play_helpers/available_robots.hpp
@@ -24,9 +24,7 @@
 
 #include <vector>
 #include <ateam_geometry/types.hpp>
-#include "core/types/robot.hpp"
-#include "core/types/world.hpp"
-
+#include "core/types/state_types.hpp"
 namespace ateam_kenobi::play_helpers
 {
 

diff --git a/ateam_kenobi/src/core/play_helpers/lanes.hpp b/ateam_kenobi/src/core/play_helpers/lanes.hpp
@@ -22,7 +22,7 @@
 #define CORE__PLAY_HELPERS__LANES_HPP_
 
 #include <ateam_geometry/types.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::play_helpers::lanes
 {

diff --git a/ateam_kenobi/src/core/play_helpers/possession.cpp b/ateam_kenobi/src/core/play_helpers/possession.cpp
@@ -23,7 +23,7 @@
 #include <algorithm>
 #include <limits>
 #include <ateam_common/robot_constants.hpp>
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::play_helpers
 {

diff --git a/ateam_kenobi/src/core/play_helpers/possession.hpp b/ateam_kenobi/src/core/play_helpers/possession.hpp
@@ -21,7 +21,7 @@
 #ifndef CORE__PLAY_HELPERS__POSSESSION_HPP_
 #define CORE__PLAY_HELPERS__POSSESSION_HPP_
 
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::play_helpers
 {

diff --git a/ateam_kenobi/src/core/play_helpers/robot_assignment.hpp b/ateam_kenobi/src/core/play_helpers/robot_assignment.hpp
@@ -26,7 +26,7 @@
 #include <optional>
 #include <string>
 #include <unordered_map>
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::play_helpers
 {

diff --git a/ateam_kenobi/src/core/play_helpers/shot_evaluation.hpp b/ateam_kenobi/src/core/play_helpers/shot_evaluation.hpp
@@ -23,7 +23,7 @@
 #define CORE__PLAY_HELPERS__SHOT_EVALUATION_HPP_
 
 #include <ateam_geometry/types.hpp>
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi::play_helpers
 {

diff --git a/ateam_kenobi/src/core/play_helpers/window_evaluation.hpp b/ateam_kenobi/src/core/play_helpers/window_evaluation.hpp
@@ -26,7 +26,7 @@
 #include <utility>
 #include <vector>
 #include <ateam_geometry/types.hpp>
-#include "core/types/robot.hpp"
+#include "core/types/state_types.hpp"
 #include "core/visualization/overlays.hpp"
 
 namespace ateam_kenobi::play_helpers::window_evaluation

diff --git a/ateam_kenobi/src/core/play_selector.hpp b/ateam_kenobi/src/core/play_selector.hpp
@@ -29,7 +29,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <ateam_msgs/msg/playbook_state.hpp>
 #include "core/stp/play.hpp"
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 
 namespace ateam_kenobi
 {

diff --git a/ateam_kenobi/src/core/stp/play.hpp b/ateam_kenobi/src/core/stp/play.hpp
@@ -27,7 +27,7 @@
 #include <string>
 #include "base.hpp"
 #include "play_score.hpp"
-#include "core/types/world.hpp"
+#include "core/types/state_types.hpp"
 #include "core/types/robot_command.hpp"
 
 namespace ateam_kenobi::stp