Easier dribblingfoul prevention for teams.

[mickmack1213]

From a team's perspective, it is very tricky to prevent dribbling fouls, as a team does not know when an Autoref detected the first BallContact.

Currently, we (TIGERs Mannheim) have our own detection for the first BallContact in our strategy and feed this detection with the vision information and our Bot feedback. As this has more information available the result usually differs from the Autorefs which only use vision data. This leads often times to the situation that we expect to be able to move to a certain position and the Autoref calls a foul.

To mitigate this we can think of the following possibilities:

1. Implement the same ball contact detection algorithm within our strategy as the TIGERs auto ref uses. This will lead to matching detections and therefore the TIGERs autoref will never report a foul for us and with majority vote we can currently also ignore the ER-Force Autoref as there is not a third autoref.
2. The Autorefs should tell us their allowed dribbling circles.

We do not like to do option 1, as only our Team is capable of doing this which would give us some "unfair" advantage, but currently we collect just too many dribbling fouls so we have to do something about this.

What do you think about adding a new message published by the Autorefs which provides the teams with the information where the current dribbling did start?

[mickmack1213]

Maybe the autorefs could even send the dribbling information to the GC which then merges the dribbling starts, publishes the merged data and enforces the overall dribbling violations.