Use Heatmap in Searcher Subtree#2451
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pejotejo wants to merge 21 commits intoHULKs:mainfrom
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depends on #2436
Why? What?
improves the searcher subtree: When we now loose a ball we first go look a the warmest position on the heatmap before doing leuchtturm. We also look a potential ball hypothesis when loosing the ball.
Ideas for Next Iterations (Not This PR)
How to Test
In Playing let the robot see the ball, remove it. The robot should now walk to the former location of the ball and do the leuchtturm at some point. You can also look at the map panel in twix with the ball search heatmap overlay.