From 39b0706d9d018ab70801370e530d2cf8aa1f765d Mon Sep 17 00:00:00 2001
From: ayin21 <wedmann.lea@gmail.com>
Date: Wed, 1 Jul 2026 03:44:35 +0200
Subject: [PATCH 1/2] changes names of go small and large fiels, set go small
 field as default in teamplayer launch

---
 .../bitbots_bringup/launch/teamplayer.launch        |   2 +-
 .../config.yaml                                     |   2 +-
 .../gui-config.yaml                                 |   0
 .../{adult_go26 => middle_devision_2026}/lines.png  | Bin
 .../config.yaml                                     |   2 +-
 .../lines.png                                       | Bin
 6 files changed, 3 insertions(+), 3 deletions(-)
 rename src/bitbots_misc/bitbots_parameter_blackboard/config/fields/{adult_go26 => middle_devision_2026}/config.yaml (89%)
 rename src/bitbots_misc/bitbots_parameter_blackboard/config/fields/{adult_go26 => middle_devision_2026}/gui-config.yaml (100%)
 rename src/bitbots_misc/bitbots_parameter_blackboard/config/fields/{adult_go26 => middle_devision_2026}/lines.png (100%)
 rename src/bitbots_misc/bitbots_parameter_blackboard/config/fields/{german_open_2026 => small_devision_2026}/config.yaml (92%)
 rename src/bitbots_misc/bitbots_parameter_blackboard/config/fields/{german_open_2026 => small_devision_2026}/lines.png (100%)

diff --git a/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch b/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
index 7f5bea32e6..c60acf9bcc 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
@@ -16,7 +16,7 @@
     <arg name="record" default="false" description="Whether the ros bag recording should be started" />
     <arg name="tts" default="false" description="Whether to speak" />
     <arg name="whistle_detector" default="true" description="Whether to detect whistles"/>
-    <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings" />
+    <arg unless="$(var sim)" name="fieldname" default="small_devision_2026" description="Loads field settings" />
     <arg if="$(var sim)" name="fieldname" default="hsl_kid" description="Loads field settings" />
 
 
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/config.yaml b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/config.yaml
similarity index 89%
rename from src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/config.yaml
rename to src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/config.yaml
index a4683bb6ce..0c62031653 100644
--- a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/config.yaml
+++ b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/config.yaml
@@ -2,7 +2,7 @@
 # RoboCup German Open 2026 #
 ############################
 
-# Settings for the RoboCup German Open 2026 field (with large goals)
+# Settings for the RoboCup Middle Devision 2026 field (with large goals)
 
 parameter_blackboard:
   ros__parameters:
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/gui-config.yaml b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/gui-config.yaml
similarity index 100%
rename from src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/gui-config.yaml
rename to src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/gui-config.yaml
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/lines.png b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/lines.png
similarity index 100%
rename from src/bitbots_misc/bitbots_parameter_blackboard/config/fields/adult_go26/lines.png
rename to src/bitbots_misc/bitbots_parameter_blackboard/config/fields/middle_devision_2026/lines.png
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/german_open_2026/config.yaml b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
similarity index 92%
rename from src/bitbots_misc/bitbots_parameter_blackboard/config/fields/german_open_2026/config.yaml
rename to src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
index 534f2f718f..c287200e84 100644
--- a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/german_open_2026/config.yaml
+++ b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
@@ -2,7 +2,7 @@
 # RoboCup German Open 2026 #
 ############################
 
-# Settings for the RoboCup German Open 2026 field
+# Settings for the RoboCup Small Devision field 2026
 
 parameter_blackboard:
   ros__parameters:
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/german_open_2026/lines.png b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/lines.png
similarity index 100%
rename from src/bitbots_misc/bitbots_parameter_blackboard/config/fields/german_open_2026/lines.png
rename to src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/lines.png

From c81399bb9c1ed0e64e1cba62b189e3f3fd2cc488 Mon Sep 17 00:00:00 2001
From: texhnolyze <joegriepen@gmail.com>
Date: Wed, 1 Jul 2026 08:32:51 +0200
Subject: [PATCH 2/2] fix(fieldname): use `small_devision_2026` in standalone
 launch files

---
 .../bitbots_body_behavior/launch/behavior_standalone.launch     | 2 +-
 .../bitbots_bringup/launch/vision_standalone.launch             | 2 +-
 src/bitbots_misc/bitbots_bringup/launch/visualization.launch    | 2 +-
 .../config/fields/small_devision_2026/config.yaml               | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
index 66dd3e3f43..dcbf0e2b6b 100644
--- a/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
+++ b/src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch
@@ -3,7 +3,7 @@
     <arg name="sim" default="false" />
     <arg name="dsd_file" default="main.dsd" description="The behavior dsd file that should be used" />
     <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings" />
-    <arg if="$(var sim)" name="fieldname" default="hsl_kid" description="Loads field settings" />
+    <arg if="$(var sim)" name="fieldname" default="small_devision_2026" description="Loads field settings" />
 
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
diff --git a/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch b/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
index df92c7624a..557476aeae 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
@@ -5,7 +5,7 @@
     <arg name="camera" default="true" description="true: launches an image provider to get images from a camera (unless sim:=true)" />
     <arg name="debug" default="false" description="true: activates publishing of several debug images" />
     <arg unless="$(var sim)" name="fieldname" default="labor" description="Loads field settings" />
-    <arg if="$(var sim)" name="fieldname" default="hsl_kid" description="Loads field settings" />
+    <arg if="$(var sim)" name="fieldname" default="small_devision_2026" description="Loads field settings" />
 
     <!-- Load the global parameters-->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch.py">
diff --git a/src/bitbots_misc/bitbots_bringup/launch/visualization.launch b/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
index bd06c10ca3..6777fc63a6 100644
--- a/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
+++ b/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
@@ -5,7 +5,7 @@
     <arg name="ipm" default="false" description="if the soccer ipm should be used" />
     <arg name="motion" default="true" description="if the motion should be started" />
     <arg name="game_controller" default="false" description="if the game controller node should be started" />
-    <arg name="fieldname" default="labor" description="Loads field settings" />
+    <arg name="fieldname" default="small_devision_2026" description="Loads field settings" />
 
     <!-- load the global parameters -->
     <include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch.py" />
diff --git a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
index c287200e84..917cb1bf5c 100644
--- a/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
+++ b/src/bitbots_misc/bitbots_parameter_blackboard/config/fields/small_devision_2026/config.yaml
@@ -16,5 +16,5 @@ parameter_blackboard:
           size:
             x: 1.93   # The distance from the goal line to the boundary of the penalty area
       goal:
-        width: 1.8   # The width of the goal (center of one goal post to the other goal post)
+        width: 1.9   # The width of the goal (center of one goal post to the other goal post)
         depth: 0.75   # The depth of the goal (distance from the goal line to the back of the goal)