The messenger sent from Gilgal to the nation in Bokhim with tidings of defeat and setback is contrasted with the angel who appeared to Yehoshua carring a sword of fire with tidings of conquest. The 5 part cycle of the Book of Shoftim described in the 2nd chapter is the result of the failure of the people to drive out the indigenous Canaanites described in the 1st chapter. The worship of Ba'al and Ashtoret - central to Caananites - frequently included less than savory rituals. The Judge in the book of Shoftim is typically a combination of an inspired leader, military strategist, and religious figure, who is, however, defined primarily by his accomplishments on the battlefield.    

Gilgal
Bokhim
Cycle of the Book of Shoftim
Ba'al
Ashera
Worshipping God and Ba'al
Yehoshua and the Angel
Idolatry
Courtesy of the Virtual Beit Midrash, Yeshivat Har Etzion