From 39c1655b75046eaee72dda2814ed5370386727cf Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Tue, 16 Jan 2024 16:32:57 +0100
Subject: [PATCH 1/2] Use ros sports game controller client

---
 bitbots_bringup/launch/highlevel.launch | 2 +-
 bitbots_bringup/package.xml             | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/bitbots_bringup/launch/highlevel.launch b/bitbots_bringup/launch/highlevel.launch
index c89d2f1..2db5b0c 100644
--- a/bitbots_bringup/launch/highlevel.launch
+++ b/bitbots_bringup/launch/highlevel.launch
@@ -15,7 +15,7 @@
 
     <!-- launch game controller -->
     <group if="$(var game_controller)">
-        <include file="$(find-pkg-share humanoid_league_game_controller)/launch/game_controller.launch">
+        <include file="$(find-pkg-share game_controller_hl)/launch/game_controller.launch">
             <arg name="sim" value="$(var sim)" />
         </include>
     </group>
diff --git a/bitbots_bringup/package.xml b/bitbots_bringup/package.xml
index bb4e99a..aee782d 100644
--- a/bitbots_bringup/package.xml
+++ b/bitbots_bringup/package.xml
@@ -29,6 +29,7 @@
     <exec_depend>bitbots_ros_control</exec_depend>
     <exec_depend>bitbots_utils</exec_depend>
     <exec_depend>bitbots_vision</exec_depend>
+    <exec_depend>game_controller_hl</exec_depend>
     <exec_depend>humanoid_base_footprint</exec_depend>
     <exec_depend>soccer_ipm</exec_depend>
     <exec_depend>system_monitor</exec_depend>

From 8af22972f5013b128d53b119a23c823afeb2f089 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Wed, 17 Jan 2024 12:17:21 +0100
Subject: [PATCH 2/2] Tell new game controller to use parameter blackboard

---
 bitbots_bringup/launch/highlevel.launch | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/bitbots_bringup/launch/highlevel.launch b/bitbots_bringup/launch/highlevel.launch
index 2db5b0c..bf87c6d 100644
--- a/bitbots_bringup/launch/highlevel.launch
+++ b/bitbots_bringup/launch/highlevel.launch
@@ -17,6 +17,10 @@
     <group if="$(var game_controller)">
         <include file="$(find-pkg-share game_controller_hl)/launch/game_controller.launch">
             <arg name="sim" value="$(var sim)" />
+            <arg name="use_parameter_blackboard" value="true" />
+            <arg name="parameter_blackboard_name" value="parameter_blackboard" />
+            <arg name="team_id_param_name" value="team_id" />
+            <arg name="bot_id_param_name" value="bot_id" />
         </include>
     </group>