diff --git a/.devcontainer/.install_utils/bashrc_ext b/.devcontainer/.install_utils/bashrc_ext new file mode 100644 index 0000000..677a438 --- /dev/null +++ b/.devcontainer/.install_utils/bashrc_ext @@ -0,0 +1,20 @@ +ros_env_setup="/opt/ros/$ROS_DISTRO/setup.bash" +echo "sourcing $ros_env_setup" +source "$ros_env_setup" +source "/home/$USER/catkin_ws/devel/setup.bash" +alias sauce='source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash' +alias scripz='cd /home/${USER}/catkin_ws/src/race_stack/stack_master/scripts' +alias switch_map='/home/${USER}/catkin_ws/src/race_stack/stack_master/scripts/switch_map.sh $1' + +echo "ROS_ROOT $ROS_ROOT" +echo "ROS_DISTRO $ROS_DISTRO" + +# automatically get zerotier IP. Be careful! it does not work if do not have an ip assigned with the correct prefix, "192.168.192" in this case, and it might not work if you have multiple ips with the same prefix +# export ROS_HOSTNAME=$( ifconfig | awk '/inet 192.168.192/ {print $2}' ) + +# check if ros hostname is empty +if [ -z "$ROS_HOSTNAME" ]; then + echo "ROS_HOSTNAME is empty, setting it to default" + export ROS_HOSTNAME=localhost +fi +export ROS_MASTER_URI="http://${ROS_HOSTNAME}:11311" diff --git a/.devcontainer/.install_utils/cartographer_dep.sh b/.devcontainer/.install_utils/cartographer_dep.sh new file mode 100644 index 0000000..0c0ca2f --- /dev/null +++ b/.devcontainer/.install_utils/cartographer_dep.sh @@ -0,0 +1,7 @@ +#! /bin/bash + +# merge cartographer ws with ours +rm /etc/ros/rosdep/sources.list.d/20-default.list +rosdep init +rosdep update +rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y diff --git a/.devcontainer/.install_utils/cartographer_req.sh b/.devcontainer/.install_utils/cartographer_req.sh new file mode 100644 index 0000000..0599919 --- /dev/null +++ b/.devcontainer/.install_utils/cartographer_req.sh @@ -0,0 +1,27 @@ +#! /bin/bash + +# install dep +apt-get install -y python3-wstool \ + python3-rosdep \ + ninja-build \ + stow \ + clang \ + cmake \ + g++ \ + git \ + google-mock \ + libboost-all-dev \ + libcairo2-dev \ + libceres-dev \ + libcurl4-openssl-dev \ + libeigen3-dev \ + libgflags-dev \ + libgoogle-glog-dev \ + liblua5.2-dev \ + libsuitesparse-dev \ + lsb-release \ + python3-sphinx \ + libgmock-dev \ + protobuf-compiler + + diff --git a/.devcontainer/.install_utils/cartographer_setup.sh b/.devcontainer/.install_utils/cartographer_setup.sh new file mode 100755 index 0000000..ed781d0 --- /dev/null +++ b/.devcontainer/.install_utils/cartographer_setup.sh @@ -0,0 +1,34 @@ +#! /bin/bash + +# install dep +apt-get install -y python3-wstool \ + python3-rosdep \ + ninja-build \ + stow \ + clang \ + cmake \ + g++ \ + git \ + google-mock \ + libboost-all-dev \ + libcairo2-dev \ + libceres-dev \ + libcurl4-openssl-dev \ + libeigen3-dev \ + libgflags-dev \ + libgoogle-glog-dev \ + liblua5.2-dev \ + libsuitesparse-dev \ + lsb-release \ + python3-sphinx \ + libgmock-dev \ + protobuf-compiler + +# merge cartographer ws with ours +rm /etc/ros/rosdep/sources.list.d/20-default.list +rosdep init +rosdep update +rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y + +# install abseil +./state_estimation/cartographer_pbl/cartographer/scripts/install_abseil.sh diff --git a/.devcontainer/.install_utils/catkin_skiplist_car.sh b/.devcontainer/.install_utils/catkin_skiplist_car.sh new file mode 100755 index 0000000..c646460 --- /dev/null +++ b/.devcontainer/.install_utils/catkin_skiplist_car.sh @@ -0,0 +1,21 @@ +#! /bin/bash + +# list can be manually obtained by ``catkin list --directory `` +# list of packages only for the car + +catkin config --skiplist cartographer\ + ackermann_cmd_mux\ + joy\ + joystick_drivers\ + racecar\ + serial\ + vesc\ + vesc_msgs\ + vesc_ackermann\ + vesc_driver\ + waypoint_logger\ + cartographer\ + cartographer_ros_msgs\ + cartographer_ros\ + cartographer_rviz\ + particle_filter diff --git a/.devcontainer/.install_utils/catkin_skiplist_sim.sh b/.devcontainer/.install_utils/catkin_skiplist_sim.sh new file mode 100644 index 0000000..f2ade68 --- /dev/null +++ b/.devcontainer/.install_utils/catkin_skiplist_sim.sh @@ -0,0 +1,6 @@ +#! /bin/bash + +# list can be manually obtained by ``catkin list --directory `` +# list of packages only for the sim + +catkin config --skiplist f1tenth_simulator diff --git a/.devcontainer/.install_utils/dev_pf_setup.sh b/.devcontainer/.install_utils/dev_pf_setup.sh new file mode 100755 index 0000000..6e13eab --- /dev/null +++ b/.devcontainer/.install_utils/dev_pf_setup.sh @@ -0,0 +1,10 @@ +#! /bin/bash + +apt-get update + +pip install cython +# downloading a branch of a fork because they fixed python3 stuff in there +git clone --branch python3 https://github.com/pmusau17/range_libc.git +cd ./range_libc/pywrapper + +python3 setup.py install diff --git a/.devcontainer/.install_utils/install_abseil.sh b/.devcontainer/.install_utils/install_abseil.sh new file mode 100755 index 0000000..4962d6e --- /dev/null +++ b/.devcontainer/.install_utils/install_abseil.sh @@ -0,0 +1,33 @@ +#!/bin/sh + +# Copyright 2019 The Cartographer Authors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +set -o errexit +set -o verbose + +git clone https://github.com/abseil/abseil-cpp.git +cd abseil-cpp +git checkout d902eb869bcfacc1bad14933ed9af4bed006d481 +mkdir build +cd build +cmake -G Ninja \ + -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_POSITION_INDEPENDENT_CODE=ON \ + -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \ + .. +ninja +sudo ninja install +cd /usr/local/stow +sudo stow absl diff --git a/.devcontainer/.install_utils/linux_req_car.txt b/.devcontainer/.install_utils/linux_req_car.txt new file mode 100644 index 0000000..78224c7 --- /dev/null +++ b/.devcontainer/.install_utils/linux_req_car.txt @@ -0,0 +1,38 @@ +wget +apt-utils +git +net-tools +libgl1 +python3-pip +ros-noetic-tf +ros-noetic-joy +ros-noetic-rqt +ros-noetic-rviz +ros-noetic-amcl +ros-noetic-rospy +ros-noetic-roslint +ros-noetic-pcl-ros +ros-noetic-nav-msgs +ros-noetic-map-server +ros-noetic-urg-node +ros-noetic-slam-toolbox +ros-noetic-ackermann-msgs +ros-noetic-slam-toolbox-msgs +ros-noetic-slam-toolbox-rviz +ros-noetic-tf2-sensor-msgs +ros-noetic-tf2-geometry-msgs +ros-noetic-realsense2-camera +ros-noetic-robot-localization +ros-noetic-interactive-markers +ros-noetic-rosbridge-server +ros-noetic-rosserial +ros-noetic-rosserial-python +ros-noetic-rospy-message-converter +ros-noetic-realsense2-camera +ros-noetic-tf2-sensor-msgs +ros-noetic-imu-tools +ros-noetic-imu-complementary-filter +ros-noetic-imu-filter-madgwick +qt5-default +libeigen3-dev +ros-noetic-rqt-common-plugins diff --git a/.devcontainer/.install_utils/linux_req_sim.txt b/.devcontainer/.install_utils/linux_req_sim.txt new file mode 100644 index 0000000..bed6681 --- /dev/null +++ b/.devcontainer/.install_utils/linux_req_sim.txt @@ -0,0 +1,30 @@ +wget +apt-utils +git +libgl1 +ros-noetic-map-server +python3-pip +ros-noetic-tf +ros-noetic-joy +ros-noetic-rqt +ros-noetic-rviz +ros-noetic-amcl +ros-noetic-rospy +ros-noetic-roslint +ros-noetic-nav-msgs +ros-noetic-slam-toolbox +ros-noetic-ackermann-msgs +ros-noetic-slam-toolbox-rviz +ros-noetic-tf2-geometry-msgs +ros-noetic-tf2-sensor-msgs +ros-noetic-realsense2-camera +ros-noetic-robot-localization +ros-noetic-interactive-markers +ros-noetic-rosbridge-server +ros-noetic-rosserial +ros-noetic-rosserial-python +ros-noetic-rospy-message-converter +ros-noetic-realsense2-camera +ros-noetic-tf2-sensor-msgs +qt5-default +libeigen3-dev diff --git a/.devcontainer/.install_utils/pf_setup.sh b/.devcontainer/.install_utils/pf_setup.sh new file mode 100755 index 0000000..5440449 --- /dev/null +++ b/.devcontainer/.install_utils/pf_setup.sh @@ -0,0 +1,10 @@ +#! /bin/bash + +sudo apt-get update +rosdep install -r --from-paths src --ignore-src --rosdistro noetic -y + +sudo pip install cython +# downloading a branch of a fork because they fixed python3 stuff in there +git clone --branch python3 https://github.com/pmusau17/range_libc.git +cd ./range_libc/pywrapper +python3 setup.py install diff --git a/.devcontainer/.install_utils/post_installation.sh b/.devcontainer/.install_utils/post_installation.sh new file mode 100755 index 0000000..45bbde3 --- /dev/null +++ b/.devcontainer/.install_utils/post_installation.sh @@ -0,0 +1,11 @@ +#! /bin/bash + +# extend .bashrc +cat /home/${USER}/catkin_ws/src/race_stack/.devcontainer/.install_utils/bashrc_ext >> ~/.bashrc + +# source +source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash + +# build +cd /home/${USER}/catkin_ws +catkin build diff --git a/.devcontainer/.install_utils/requirements.txt b/.devcontainer/.install_utils/requirements.txt new file mode 100644 index 0000000..561981f --- /dev/null +++ b/.devcontainer/.install_utils/requirements.txt @@ -0,0 +1,24 @@ +cython<3 +scipy==1.6.3 +rospkg +tqdm +scikit-learn +scikit-image==0.19.2 +opencv-python>=4.5.2 +trajectory_planning_helpers==0.76 +PyYAML +pynput +pandas +matplotlib~=3.5.1 +numba +filterpy +torch>=1.7 +botorch==0.5.0 +pytest>=6.2 +sphinx +sphinx-rtd-theme +gpytorch==1.8.1 +roslibpy==1.6.0 +twisted==23.10.0 +pyOpenSSL==23.3.0 +psutil diff --git a/.devcontainer/.install_utils/ros_entrypoint.sh b/.devcontainer/.install_utils/ros_entrypoint.sh new file mode 100755 index 0000000..fc188a3 --- /dev/null +++ b/.devcontainer/.install_utils/ros_entrypoint.sh @@ -0,0 +1,5 @@ +#! /bin/bash + +set -e + +exec "$@" diff --git a/.devcontainer/.install_utils/setup_user.sh b/.devcontainer/.install_utils/setup_user.sh new file mode 100644 index 0000000..11f3a98 --- /dev/null +++ b/.devcontainer/.install_utils/setup_user.sh @@ -0,0 +1,4 @@ +!# /bin/bash + +useradd -ms /bin/bash -u ${UID} -G sudo ${USER} +groupadd -fg ${GID} ${USER} diff --git a/.devcontainer/.install_utils/xauth_setup.sh b/.devcontainer/.install_utils/xauth_setup.sh new file mode 100755 index 0000000..5c84493 --- /dev/null +++ b/.devcontainer/.install_utils/xauth_setup.sh @@ -0,0 +1,8 @@ +#! /bin/bash + +# Script to create a Xauthority file for the docker container +XAUTH=$HOME/.Xauthority +export XAUTH_LOC=$XAUTH +xhost +local:$USER + +touch $XAUTH diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json new file mode 100644 index 0000000..280c08b --- /dev/null +++ b/.devcontainer/devcontainer.json @@ -0,0 +1,43 @@ +{ + "name": "ForzaETH ROS Development Container", + "containerUser": "${localEnv:USER}", + "privileged": true, + "initializeCommand": "/bin/bash -c 'source ${localWorkspaceFolder}/.devcontainer/.install_utils/xauth_setup.sh'", + "image": "race_stack_sim_x86", // change name in case you are working on arm/on the car + "workspaceFolder": "/home/${localEnv:USER}/catkin_ws", + "workspaceMount": "source=${localWorkspaceFolder},target=/home/${localEnv:USER}/catkin_ws/src/race_stack,type=bind", + "customizations": { + "vscode": { + "extensions":[ + "ms-vscode.cpptools", + "ms-vscode.cpptools-themes", + "twxs.cmake", + "donjayamanne.python-extension-pack", + "eamodio.gitlens", + "ms-iot.vscode-ros", + "redhat.vscode-xml", + "ms-python.autopep8" + ] + } + }, + "containerEnv": { + "DISPLAY": "${localEnv:DISPLAY}", + "USER" : "${localEnv:USER}", + "XAUTHORITY" : "/tmp/.Xauthority", + "ROS_HOSTNAME" : "${localEnv:ROS_HOSTNAME}" + }, + "runArgs": [ + "--name", "forzaeth_devcontainer", + "--net", "host", + "--privileged" + ], + "mounts": [ + "source=/home/${localEnv:USER}/.Xauthority,target=/tmp/.Xauthority,type=bind,consistency=cached", + "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached", + "source=/dev,target=/dev,type=bind,consistency=cached", + "source=${localWorkspaceFolder}/../cache/noetic/build,target=/home/${localEnv:USER}/catkin_ws/build,type=bind", + "source=${localWorkspaceFolder}/../cache/noetic/devel,target=/home/${localEnv:USER}/catkin_ws/devel,type=bind", + "source=${localWorkspaceFolder}/../cache/noetic/logs,target=/home/${localEnv:USER}/catkin_ws/logs,type=bind" + ], + "postCreateCommand": "/bin/bash /home/${localEnv:USER}/catkin_ws/src/race_stack/.devcontainer/.install_utils/post_installation.sh" +} diff --git a/.docker_utils/Dockerfile.base_arm b/.docker_utils/Dockerfile.base_arm new file mode 100644 index 0000000..3092713 --- /dev/null +++ b/.docker_utils/Dockerfile.base_arm @@ -0,0 +1,33 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +# use ROS Noetic image +FROM ros:noetic-robot +SHELL [ "/bin/bash", "-c" ] + +ADD ./.devcontainer/.install_utils /.install_utils + +# install ros packages +ARG DEBIAN_FRONTEND=noninteractive +RUN apt-get update && xargs apt-get install -y < /.install_utils/linux_req_car.txt + +# install python packages +RUN pip3 install -r /.install_utils/requirements.txt && \ + pip3 install numpy==1.18.1 --no-build-isolation && \ + pip3 install casadi + + +# install catkin build tools +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \ + > /etc/apt/sources.list.d/ros-latest.list' && \ + wget http://packages.ros.org/ros.key -O - | sudo apt-key add - && \ + apt-get update && apt-get install -y python3-catkin-tools + +# install cartographer +RUN . /.install_utils/cartographer_req.sh && . /.install_utils/install_abseil.sh + +# install particle filter +RUN . /.install_utils/dev_pf_setup.sh + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/Dockerfile.base_x86 b/.docker_utils/Dockerfile.base_x86 new file mode 100644 index 0000000..2be170a --- /dev/null +++ b/.docker_utils/Dockerfile.base_x86 @@ -0,0 +1,32 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +# use ROS Noetic image +FROM ros:noetic-robot +SHELL [ "/bin/bash", "-c" ] + +ADD ./.devcontainer/.install_utils /.install_utils + +# install ros packages +ARG DEBIAN_FRONTEND=noninteractive +RUN apt-get update && xargs apt-get install -y < /.install_utils/linux_req_car.txt + +# install python packages +RUN --mount=type=cache,target=/root/.cache/pip pip3 install -r /.install_utils/requirements.txt && \ + pip3 install numpy casadi + + +# install catkin build tools +RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" \ + > /etc/apt/sources.list.d/ros-latest.list' && \ + wget http://packages.ros.org/ros.key -O - | sudo apt-key add - && \ + apt-get update && apt-get install -y python3-catkin-tools + +# install cartographer +RUN . /.install_utils/cartographer_req.sh && . /.install_utils/install_abseil.sh + +# install particle filter +RUN . /.install_utils/dev_pf_setup.sh + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/Dockerfile.jet b/.docker_utils/Dockerfile.jet new file mode 100644 index 0000000..881ef4c --- /dev/null +++ b/.docker_utils/Dockerfile.jet @@ -0,0 +1,29 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +FROM base_arm:latest + + +# initial user setup +ARG USER +ARG UID +ARG GID + +RUN /bin/bash /.install_utils/setup_user.sh + +USER $USER +WORKDIR /home/${USER}/catkin_ws +RUN mkdir -p /home/${USER}/catkin_ws/src + +# initialize workspace and make sure no sim packages are built +RUN catkin init && . /opt/ros/noetic/setup.bash && . /.install_utils/catkin_skiplist_sim.sh + +# complete cartographer installation and rosdeps +RUN . /.install_utils/cartographer_dep.sh + +USER root +RUN chown -R ${USER}:${USER} /home/${USER} +USER $USER + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/Dockerfile.nuc b/.docker_utils/Dockerfile.nuc new file mode 100644 index 0000000..80401bc --- /dev/null +++ b/.docker_utils/Dockerfile.nuc @@ -0,0 +1,30 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +FROM base_x86:latest + + +# initial user setup +ARG USER +ARG UID +ARG GID + +RUN /bin/bash /.install_utils/setup_user.sh + +USER $USER +WORKDIR /home/${USER}/catkin_ws +RUN mkdir -p /home/${USER}/catkin_ws/src + +# initialize workspace and make sure no sim packages are built +RUN catkin init && . /opt/ros/noetic/setup.bash && . /.install_utils/catkin_skiplist_sim.sh + +# complete cartographer installation and rosdeps +RUN . /.install_utils/cartographer_dep.sh + +USER root +RUN chown -R ${USER}:${USER} /home/${USER} +RUN echo "${USER}:password" | chpasswd +USER $USER + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/Dockerfile.sim_arm b/.docker_utils/Dockerfile.sim_arm new file mode 100644 index 0000000..954d67f --- /dev/null +++ b/.docker_utils/Dockerfile.sim_arm @@ -0,0 +1,26 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +FROM base_arm:latest + + +# initial user setup +ARG USER +ARG UID +ARG GID + +RUN /bin/bash /.install_utils/setup_user.sh + +USER $USER +WORKDIR /home/${USER}/catkin_ws +RUN mkdir -p /home/${USER}/catkin_ws/src + +# initialize workspace and make sure no car packages are built +RUN catkin init && . /opt/ros/noetic/setup.bash && . /.install_utils/catkin_skiplist_car.sh + +USER root +RUN chown -R ${USER}:${USER} /home/${USER} +USER $USER + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/Dockerfile.sim_x86 b/.docker_utils/Dockerfile.sim_x86 new file mode 100644 index 0000000..42b25ac --- /dev/null +++ b/.docker_utils/Dockerfile.sim_x86 @@ -0,0 +1,27 @@ +# +# Container Creation for the F110 race-stack at Center for Project Based Learning, ETH +# + +FROM base_x86:latest + + +# initial user setup +ARG USER +ARG UID +ARG GID + +RUN /bin/bash /.install_utils/setup_user.sh + +USER $USER +WORKDIR /home/${USER}/catkin_ws +RUN mkdir -p /home/${USER}/catkin_ws/src + +# initialize workspace and make sure no car packages are built +RUN catkin init && . /opt/ros/noetic/setup.bash && . /.install_utils/catkin_skiplist_car.sh + +USER root +RUN chown -R ${USER}:${USER} /home/${USER} +RUN echo "${USER}:password" | chpasswd +USER $USER + +ENTRYPOINT [ "bash", "/.install_utils/ros_entrypoint.sh" ] diff --git a/.docker_utils/README.md b/.docker_utils/README.md new file mode 100644 index 0000000..af448c9 --- /dev/null +++ b/.docker_utils/README.md @@ -0,0 +1,122 @@ +# Docker Structure and Guidelines + +## Structure +First, a base docker image is defined through the [base Dockerfile](./Dockerfile.base_x86). This can be extended then for development with the simulator, with the [sim dockerfile](./Dockerfile.sim_x86) or for development on the physical car with the [nuc dockerfile](./Dockerfile.nuc). +While the previously linked docker files are meant for x86 platforms, there are parallel dockerfiles defined for arm platforms ([base](./Dockerfile.base_arm), [sim](./Dockerfile.sim_arm), [car](./Dockerfile.jet)). + +They are meant to be built through the [docker-compose.yaml](../docker-compose.yaml), and they are either meant to be used in a VS Code devcontainer ([devcontainer.json](../.devcontainer/devcontainer.json) here) or with the accompanying scripts ([main](./main_dock.sh), [secondary](./sec_dock.sh), [main attach](./main_attach_dock.sh)). + +**NOTE**: it is suggested to set a static IP for the robot with the ROS_HOSTNAME environment variable, so that the IP of the robot is always the same, as from [networking structure](../stack_master/checklists/networking.md). +Setting up a static ip at this moment will allow you to set extra computers (that can ping such IP) to listen to the ROS messags on the robot, enabling fast and quick development. + + +## How to use (simulator) +**Note**: this following tutorial assumes you are using an x86 platform (e.g. Intel CPU). In case you have an ARM platform (e.g. NVIDIA Jetson) use the dockerfiles substituting `_x86` with `_arm`. + +**Note 2**: docker is assumed to be installed and runnable without sudo (e.g. on Linux see [Post-Installation steps](https://docs.docker.com/engine/install/linux-postinstall/)). + +**Step 1/4**: First build the base docker image with `docker compose`: +```bash +docker compose build base_x86 +``` +For an x86 build on a 8th-gen i7 CPU, this took roughly 45 minutes (though it depends also on connection speed). So sit back and have a coffee! ☕ + +**Step 2/4**: Then export the needed environment variables and build the simulator container: +```bash +export UID=$(id -u) +export GID=$(id -g) +docker compose build sim_x86 +``` +This should take much less time, less than 1 minute. + +**Step 3/4**: Create folder structure that resembles the following. Note that it is two folders up from the position of the `race_stack`. + +```bash +/../../ +... +├── cache +│   └── noetic +│   ├── build +│   ├── devel +│   └── logs +└ ... +``` + +It can be done with the following command: +```bash +cd +mkdir -p ../../cache/noetic/build ../../cache/noetic/devel ../../cache/noetic/logs +``` + +**Note**: In case it is particularly problematic to create such a folder structure two parent directories up, it can also be created just one directoy up, but the cache mounting point must be changed in the devcontainer.json for the build, devel and log folder. + +**Step 4/4**: Launch the VS Code devcontainer. This can be done by opening the race_stack folder in VS Code, launching the command palette with the shortcut `Ctrl`+`Shift`+`p`, and selecting `Dev Containers: Rebuild and Reopen in Container`. Make sure that the field `image` has the correct name of the simulator docker image that you want to use, name that can be found in the [`docker-compose.yaml`](../docker-compose.yaml) in the field `image`. In this case, it is `race_stack_sim_x86` . + +## How to use (car) +**Note**: this following tutorial assumes you are using an x86 platform (e.g. Intel CPU). In case you have an ARM platform (e.g. NVIDIA Jetson) use the dockerfiles substituting `_x86` with `_arm` and change `_nuc` to `_jet`. + + +**Note 2**: docker is assumed to be installed and runnable without sudo (e.g. on Linux see [Post-Installation steps](https://docs.docker.com/engine/install/linux-postinstall/)). + +**Step 1/4**: First build the base docker image with `docker compose`: +```bash +docker compose build base_x86 +``` + +**Step 2/4**: Then export the needed environment variables and build the car container: +```bash +export UID=$(id -u) +export GID=$(id -g) +docker compose build nuc +``` + +**Step 3/4**: Create folder structure that resembles the following. Note that it is two folders up from the position of the `race_stack`. + +```bash +/../../ +... +├── cache +│   └── noetic +│   ├── build +│   ├── devel +│   └── logs +└ ... +``` + +It can be done with the following command: +```bash +cd +mkdir -p ../../cache/noetic/build ../../cache/noetic/devel ../../cache/noetic/logs +``` + +**Note**: In case it is particularly problematic to create such a folder structure two parent directories up, it can also be created just one directoy up, but the cache mounting point must be changed in the devcontainer.json for the build, devel and log folder. + +**Step 4/4**: +Since we prefer to not launch the car nodes with a VS Code session attached to them, we will in this case use the scripts present in the folder [.docker_utils](../.docker_utils). First make sure that the environment variable `IMAGE` in the [`main_dock.sh`](./main_dock.sh) has the correct name of the car docker image that you want to use, name that can be found in the [`docker-compose.yaml`](../docker-compose.yaml) in the field `image`. In this case, it is `race_stack_nuc`. +Then, for the first time launching the setup, use the [`main_dock.sh`](./main_dock.sh) file: +```bash +cd +export RACE_STACK_ROOT=$(pwd) +source ./.devcontainer/.install_utils/xauth_setup.sh +./.docker_utils/main_dock.sh +``` + +Then, **in the new terminal inside the container**, run the post installation script, that will allso build your system: +```bash +cd +./.devcontainer/.install_utils/post_installation.sh +``` +You are now good to go, you can also exit the container (with `Ctrl`+`D` or exit). + +To restart and attach to the container, use the attaching script [`main_attach_dock.sh`](./main_attach_dock.sh) and to obtain multiple terminals in this same container you can use [`sec_dock.sh`](./sec_dock.sh) (or terminal multiplexers). +```bash +cd +# in case main dock is not on +./.docker_utils/main_attach_dock.sh + +# in case you want additional terminals +./.docker_utils/sec_dock.sh +``` + +--- +[Go back to the main README](../README.md) \ No newline at end of file diff --git a/.docker_utils/main_attach_dock.sh b/.docker_utils/main_attach_dock.sh new file mode 100755 index 0000000..7d1d491 --- /dev/null +++ b/.docker_utils/main_attach_dock.sh @@ -0,0 +1,5 @@ +#! /bin/bash + +# Script to launch the main docker instance for the pblf110 car when the container was already created +docker start forzaeth_devcontainer +docker attach forzaeth_devcontainer diff --git a/.docker_utils/main_dock.sh b/.docker_utils/main_dock.sh new file mode 100755 index 0000000..8a8bb23 --- /dev/null +++ b/.docker_utils/main_dock.sh @@ -0,0 +1,23 @@ +#! /bin/bash + +# Script to launch the main docker instance for the pblf110 car +IMAGE=race_stack_sim_x86 + +docker run --tty \ + --interactive \ + --network=host \ + --env DISPLAY=$DISPLAY \ + --env USER=$USER \ + --env XAUTHORITY=/home/$USER/.Xauthority \ + --env ROS_HOSTNAME=$ROS_HOSTNAME \ + --volume $XAUTH_LOC:/home/$USER/.Xauthority \ + --volume /dev:/dev \ + --volume /tmp/.X11-unix:/tmp/.X11-unix \ + --volume $RACE_STACK_ROOT:/home/$USER/catkin_ws/src/race_stack \ + --volume $RACE_STACK_ROOT/../../cache/noetic/build:/home/$USER/catkin_ws/build \ + --volume $RACE_STACK_ROOT/../../cache/noetic/devel:/home/$USER/catkin_ws/devel \ + --volume $RACE_STACK_ROOT/../../cache/noetic/logs:/home/$USER/catkin_ws/logs \ + --privileged \ + --name forzaeth_devcontainer \ + --entrypoint /bin/bash \ + ${IMAGE}:latest diff --git a/.docker_utils/sec_dock.sh b/.docker_utils/sec_dock.sh new file mode 100755 index 0000000..a2f95a5 --- /dev/null +++ b/.docker_utils/sec_dock.sh @@ -0,0 +1,8 @@ +#! /bin/bash + +# Script to launch the main docker instance for the pblf110 car + +docker exec --tty \ + --interactive \ + forzaeth_devcontainer \ + /bin/bash diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e1731fc --- /dev/null +++ b/.gitignore @@ -0,0 +1,61 @@ +# rosbags +*.bag +bags/ + +# JSON files for waypoints +*/maps/*/*.json +# but not the test ones +!*/maps/test_map/*.json + +# vscode +.vscode/ + +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# packages +*.egg-info + +# C extensions +*.so + +# Jupyter Notebook +.ipynb_checkpoints + +# VS Code +.vscode/* + +# packages +*.egg-info + +#no lapanalyser maps +f110_utils/nodes/lap_analyser/maps/* + +#no map_editor maps +f110_utils/nodes/map_editor/maps/* + +#no slam_tuner maps +f110_utils/nodes/slam_tuner/maps/* + +#no realsense logs +perception/logs/* + +# ot yamls +f110_utils/nodes/overtaking_sector_tuner/cfg/ot_sectors.yaml +# scaler yamls +f110_utils/nodes/sector_tuner/cfg/speed_scaling.yaml +# no changes to sector yamls +stack_master/maps/*/ot_sectors.yaml +stack_master/maps/*/speed_scaling.yaml + +# Bayesian optimization +stack_master/config/BayesOpt_MAP/ +f110_utils/nodes/param_optimizer/logs/* + +# Test artifacts +stack_master/test/artifacts/* + +# Range Libc +range_libc/ diff --git a/.gitlab/.gitlab-ci.yml b/.gitlab/.gitlab-ci.yml new file mode 100644 index 0000000..e65f109 --- /dev/null +++ b/.gitlab/.gitlab-ci.yml @@ -0,0 +1,200 @@ +# +# pbl f110 ci/cd pipeline +# +# upon commits on `master` it builds the system in two versions in two docker container, one for the simulator, one for the real car +# it then tests the simulator +# +# upon commits on `test` it + +docker-build-base-x86: + rules: + - if: $CI_COMMIT_BRANCH == "master" + - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" + stage: build + variables: + DOCKER_TLS_CERTDIR: "/certs" + GIT_SUBMODULE_STRATEGY: recursive + GIT_SUBMODULE_FORCE_HTTPS: "true" + # Use the official docker image. + image: docker:latest + services: + - docker:dind + before_script: + - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" + # Default branch leaves tag empty (= latest tag) + # All other branches are tagged with the escaped branch name (commit ref slug) + script: + - docker compose build --pull base_x86 + - docker compose push base_x86 + tags: + - "build" + - "x86" + +# docker-build-base-arm: +# rules: +# - if: $CI_COMMIT_BRANCH == "master" +# - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" +# stage: build +# variables: +# DOCKER_TLS_CERTDIR: "/certs" +# GIT_SUBMODULE_STRATEGY: recursive +# GIT_SUBMODULE_FORCE_HTTPS: "true" +# # Use the official docker image. +# image: docker:latest +# services: +# - docker:dind +# before_script: +# - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" +# # Default branch leaves tag empty (= latest tag) +# # All other branches are tagged with the escaped branch name (commit ref slug) +# script: +# - docker compose build --pull base_arm +# - docker compose push base_arm +# tags: +# - "build" +# - "arm" + +docker-build-nuc: + rules: + - if: $CI_COMMIT_BRANCH == "master" + - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" + stage: build + variables: + DOCKER_TLS_CERTDIR: "/certs" + GIT_SUBMODULE_STRATEGY: recursive + GIT_SUBMODULE_FORCE_HTTPS: "true" + # Use the official docker image. + image: docker:latest + services: + - docker:dind + before_script: + - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" + # Default branch leaves tag empty (= latest tag) + # All other branches are tagged with the escaped branch name (commit ref slug) + script: + - export USER=$(whoami) + - export UID=$(id -u) + - export GID=$(id -g) + - docker compose build --pull nuc + - docker compose push nuc + tags: + - "build" + - "x86" + +docker-build-sim-x86: + rules: + - if: $CI_COMMIT_BRANCH == "master" + - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" + stage: build + variables: + DOCKER_TLS_CERTDIR: "/certs" + GIT_SUBMODULE_STRATEGY: recursive + GIT_SUBMODULE_FORCE_HTTPS: "true" + # Use the official docker image. + image: docker:latest + services: + - docker:dind + before_script: + - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" + # Default branch leaves tag empty (= latest tag) + # All other branches are tagged with the escaped branch name (commit ref slug) + script: + - export USER=$(whoami) + - export UID=$(id -u) + - export GID=$(id -g) + - docker compose build --pull sim_x86 + - docker compose push sim_x86 + tags: + - "build" + - "x86" + +# docker-build-jet: +# rules: +# - if: $CI_COMMIT_BRANCH == "master" +# - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" +# stage: build +# variables: +# DOCKER_TLS_CERTDIR: "/certs" +# GIT_SUBMODULE_STRATEGY: recursive +# GIT_SUBMODULE_FORCE_HTTPS: "true" +# # Use the official docker image. +# image: docker:latest +# services: +# - docker:dind +# before_script: +# - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" +# # Default branch leaves tag empty (= latest tag) +# # All other branches are tagged with the escaped branch name (commit ref slug) +# script: +# - export USER=$(whoami) +# - export UID=$(id -u) +# - export GID=$(id -g) +# - docker compose build --pull jet +# - docker compose push jet +# tags: +# - "build" +# - "arm" + +# docker-build-sim-arm: +# rules: +# - if: $CI_COMMIT_BRANCH == "master" +# - if: $CI_PIPELINE_SOURCE == "merge_request_event" && $CI_MERGE_REQUEST_TARGET_BRANCH_NAME == "master" +# stage: build +# variables: +# DOCKER_TLS_CERTDIR: "/certs" +# GIT_SUBMODULE_STRATEGY: recursive +# GIT_SUBMODULE_FORCE_HTTPS: "true" +# # Use the official docker image. +# image: docker:latest +# services: +# - docker:dind +# before_script: +# - docker login registry.git.ee.ethz.ch -u "$CI_REGISTRY_USER" -p "$CI_REGISTRY_PASSWORD" +# # Default branch leaves tag empty (= latest tag) +# # All other branches are tagged with the escaped branch name (commit ref slug) +# script: +# - export USER=$(whoami) +# - export UID=$(id -u) +# - export GID=$(id -g) +# - docker compose build --pull sim_arm +# - docker compose push sim_arm +# tags: +# - "build" +# - "arm" + +#USE THE LINTER FOR THE OPENSOURCING +#lint-python: +# stage: test +# image: python:3.8 +# script: +# - pip install pylint +# - git diff --name-only HEAD^ | grep '\.py$' | xargs -r pylint --disable=C0111,R0903,W0511,R0801,C0301 --fail-under=6.9 +# rules: +# - if: $CI_COMMIT_BRANCH == "develop" +# - if: $CI_COMMIT_BRANCH == "master" +# - if: $CI_PIPELINE_SOURCE == "merge_request_event" +# tags: +# - "lint" + +test-sim: + rules: + - if: $CI_COMMIT_BRANCH == "develop" + - if: $CI_COMMIT_BRANCH == "master" + - if: $CI_PIPELINE_SOURCE == "merge_request_event" + stage: test + variables: + DOCKER_TLS_CERTDIR: "/certs" + # Use the built pbl f110 image + image: "${CI_REGISTRY_IMAGE}/race_stack_sim_x86" + script: + - export USER=$(whoami) + - cp -rf /builds/pbl/research/f1tenth/race_stack/ /home/${USER}/catkin_ws/src/race_stack/ + - cd /home/${USER}/catkin_ws + - /bin/bash /home/${USER}/catkin_ws/src/race_stack/.devcontainer/.install_utils/post_installation.sh + - source /opt/ros/noetic/setup.bash && source /home/${USER}/catkin_ws/devel/setup.bash && catkin test stack_master + - cp -rf /home/${USER}/catkin_ws/src/race_stack/stack_master/test/artifacts/ ${CI_PROJECT_DIR}/test_artifacts/ + artifacts: + paths: + - test_artifacts/*.md + tags: + - "test" diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..22600e0 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,27 @@ +[submodule "f110_utils/nodes/bayesopt4ros"] + path = f110_utils/nodes/bayesopt4ros + url = https://github.com/IntelligentControlSystems/bayesopt4ros +[submodule "f110_utils/nodes/cpu_monitor"] + path = f110_utils/nodes/cpu_monitor + url = https://github.com/alspitz/cpu_monitor.git +[submodule "state_estimation/cartographer_pbl/cartographer"] + path = state_estimation/cartographer_pbl/cartographer + url = https://github.com/cartographer-project/cartographer +[submodule "state_estimation/cartographer_pbl/cartographer_ros"] + path = state_estimation/cartographer_pbl/cartographer_ros + url = https://github.com/cartographer-project/cartographer_ros +[submodule "base_system/f1tenth_system"] + path = base_system/f1tenth_system + url = https://github.com/ForzaETH/f1tenth_system.git +[submodule "sensors/vesc"] + path = sensors/vesc + url = https://github.com/ForzaETH/vesc.git +[submodule "state_estimation/particle_filter"] + path = state_estimation/particle_filter + url = https://github.com/ForzaETH/particle_filter.git +[submodule "planner/gb_optimizer/src/global_racetrajectory_optimization"] + path = planner/gb_optimizer/src/global_racetrajectory_optimization + url = https://github.com/ForzaETH/global_racetrajectory_optimization.git +[submodule "base_system/f110-simulator"] + path = base_system/f110-simulator + url = https://github.com/ForzaETH/f1tenth_simulator.git diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000..e4b85eb --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,39 @@ +# Contributing + +## We welcome contributions from the community and are happy to have them. Please follow this guide when logging issues or making changes. + +## ROS Packages + +### Package Structure +TODO: should we encourage more packages, or keep the current structure? + +### General Code guidelines +- Add TODO when a minor code smell is found, e.g. a hard-coded number that should be a parameter. (You are then welcome to fix them and propose the fixes in a pull request!). +- Add docstrings to the code. To ease the setup in VSCode you can use the `Python Docstring Generator` extension (https://marketplace.visualstudio.com/items?itemName=njpwerner.autodocstring). +- Add comments expecially for the parts of the code that are not straightforward, or to explain why a certain approach was chosen. +- In Python, use type-hinting for the parameters and the return values of the functions, when it's not obvious (e.g. init function and callback functions). +- remove all commented code! Also unused imports and variables should be removed. + +### ROS nodes +- use a global parameter from the context list below to specify the context in which the node is running instead of hard-coding it. If a new context is needed, open a PR to add it to the list. +- Context list: + - `/sim`: the node is running in the simulator (if `False`, the node is running on the car) + - `/measure`: the node is running with additional measurements + - `/from_bag`: the node is running from a rosbag + - `/racecar_version`: the node is assuming the racecar to be +- Use ROS logging functions to log messages, with the default logging level set to `INFO`. + + +An example is in the [`planner/spliner/src/spliner_node.py`](./planner/spliner/src/spliner_node.py) file. + +### ROS launch files +- document the arguments of the launch file with the `doc` attribute of the `arg` tag where reasonabele (e.g. when the arguments are limited to a set of few values) +- keep formatting consistent, by using the VSCode plugin for `XML` (https://marketplace.visualstudio.com/items?itemName=redhat.vscode-xml) + +### README.md +Make sure the readme of a package/core node is up to date and contains the following sections: +- Description +- Parameters +- Input/Output Topic Signature + +An example is in the [`planner/spliner/README.md`](./planner/spliner/README.md) file. diff --git a/INSTALLATION.md b/INSTALLATION.md new file mode 100644 index 0000000..fae4f0b --- /dev/null +++ b/INSTALLATION.md @@ -0,0 +1,154 @@ +# ForzaETH Race Stack Installation +After following the [prerequisites](#prerequisites) you will need to choose either [Car installation](#car-installation) or [Sim installation](#sim-installation). We recommend the use of [Docker](#docker) for either installation. + +## Prerequisites +To run the ForzaETH race stack make sure that you have assembled and setup a car following the [official F1TENTH instructions](https://f1tenth.org/build). Follow the instructions up to the point *Install F1TENTH Driver Stack » 3. F1TENTH Driver Stack Setup » 1. udev Rules Setup*. + +For both the car and the sim installation, be sure to have installed: + - [ROS Noetic](http://wiki.ros.org/noetic/Installation/Ubuntu) + - [Catkin Build Tools](https://catkin-tools.readthedocs.io/en/latest/installing.html) + +**Note**: +The two installations are not needed in the case of the [Docker](#docker) setup. + +**Note**: +Be sure to have included the sourcing lines in your `~/.bashrc` file, in order to properly setup ROS in every terminal you open. +The two lines to be added are (if you are using `bash`) +``` +source /opt/ros/noetic/setup.bash +source /devel/setup.bash +``` + + +## Docker +For quick deployment, a docker image can be used. +The full docker structure and guidelines on how to use both in simulation and in the real platform can be found in the [Docker Guidelines README](./.docker_utils/README.md). + +For a quick example of the race stack in action, first build the base docker image with `docker compose`: +```bash +docker compose build base_x86 +``` + +Then export the needed environment variables and build the simulator container: +```bash +export UID=$(id -u) +export GID=$(id -g) +docker compose build sim_x86 +``` + +Then check that the following folder structure is existing: +```bash +/../../ +... +├── cache +│   └── noetic +│   ├── build +│   ├── devel +│   └── logs +└ ... +``` +It can be created from the command line, for example: +```bash +cd +mkdir -p ../../cache/noetic/build ../../cache/noetic/devel ../../cache/noetic/logs +``` +Then launch the devcontainer from VS Code + +To now test the simulator, launch the simulator with base system with the following command: +```bash +roslaunch stack_master base_system.launch sim:=true map_name:=test_map +``` + +and then, in a new terminal, launch the timetrials system with the following command: +```bash +roslaunch stack_master time_trials.launch racecar_version:=NUC2 +``` +For more information on how to run the different modules on the car, refer to the [`stack_master`](./stack_master/README.md) README or to the READMEs in the [checklist](./stack_master/checklists/) directory. + +If you want a native source installation follow the installation steps below. + +## Native installation +The following steps assume you have a catkin workspace set up and are working from within the ```src``` folder. For example: +``` +cd ~/catkin_ws/src +``` +### Car installation +#### [Step 1 of 5] +First you'll have to clone the repository with all the submodules in it +``` +git clone --recurse-submodules git@github.com:ForzaETH/race_stack.git +cd race_stack +``` +From now on the installation assumes you are in the `race_stack` folder. + +#### [Step 2 of 5] +Install all the dependencies +``` +# ubuntu packages dependencies +xargs sudo apt-get install -y < ./.install_utils/linux_req_car.txt + +# python dependencies +pip install -r ./.devcontainer/.install_utils/requirements.txt +``` + + +#### [Step 3 of 5] +Then you will need to install the cartographer version which we modified (and which was just downloaded as submodule) +``` +chmod +x ./.devcontainer/.install_utils/cartographer_setup.sh +sudo ./.devcontainer/.install_utils/cartographer_setup.sh +``` +#### [Step 4 of 5] +Similarly you will need to install the SynPF particle filter (which was just downloaded as submodule) +``` +chmod +x ./.devcontainer/.install_utils/pf_setup.sh +sudo ./.devcontainer/.install_utils/pf_setup.sh +``` +#### [Step 5 of 5] + +**Optional**: if you want you can erase the simulator folder, so to not install it on the car too. +It can be done with the following command +``` +# Optional +rm -rf ./base_system/f110-simulator +``` + +Then build the whole system! +``` +catkin build +``` + +The car is now ready to be tested. For examples on how to run the different modules on the car, refer to the [`stack_master` README](./stack_master/README.md). As a further example, the [time-trials](./stack_master/checklists/TimeTrials.md) or the [head-to-head](./stack_master/checklists/HeadToHead.md) checklists are a good starting point. + +### Sim installation +#### [Step 1 of 2] +First you'll have to clone the repository +``` +git clone --recurse-submodules git@github.com:ForzaETH/race_stack.git +cd race_stack +``` +From now on the installation assumes you are in the `race_stack` folder. + +#### [Step 2 of 3] +Install all the dependencies +``` +# ubuntu packages dependencies +xargs sudo apt-get install -y < ./.devcontainer/.install_utils/linux_req_sim.txt + +# python dependencies +pip install -r ./.devcontainer/.install_utils/requirements.txt +``` +#### [Step 3 of 3] +**Optional**: if you want you can erase the simulator folder, so to not install it on the car too. +It can be done with the following command +``` +# Optional +rm -rf ./base_system/f1tenth_system +``` + +Then build the whole system! +``` +catkin build +``` + +After installation you can test simulation functionalities, for example running the [time-trials](./stack_master/checklists/TimeTrials.md) or the [head-to-head](./stack_master/checklists/HeadToHead.md) checklists. For a more general overview of how to use the `race_stack` refer to the [`stack_master` README](./stack_master/README.md). diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..2fb1424 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2024 ForzaETH + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..2dd25b9 --- /dev/null +++ b/README.md @@ -0,0 +1,47 @@ +# ForzaETH Race Stack at Center for Project Based Learning + + + arXiv e-print Badge + + +ForzaETH Race Stack by the [D-ITET Center for Project Based Learning (PBL)](https://pbl.ee.ethz.ch/) at ETH Zurich. + +Accompanying this repository, a paper titled *ForzaETH Race Stack - Scaled Autonomous Head-to-Head Racing on Fully Commercial off-the-Shelf Hardware* is available on [arXiv](https://arxiv.org/abs/2403.11784), detailing the system's architecture, algorithms, and performance benchmarks. + +## Installation + +We provide an installation guide [here](./INSTALLATION.md). + +## Getting started + +After installation, the car (or the simulation environment) is ready to be tested. For examples on how to run the different modules on the car, refer to the [`stack_master` README](./stack_master/README.md). As a further example, the [time-trials](./stack_master/checklists/TimeTrials.md) or the [head-to-head](./stack_master/checklists/HeadToHead.md) checklists are a good starting point. + +## Contributing + +In case you find our package helpful and want to contribute, please either raise an issue or directly make a pull request. To create pull request please follow the guidelines in [CONTRIBUTING](./CONTRIBUTING.md). + +## Acknowledgement +This project would not be possible without the use of multiple great open-sourced code bases as listed below: + +- [f1tenth_system](https://github.com/f1tenth/f1tenth_system) +- [F1TENTH Racecar Simulator](https://github.com/f1tenth/f1tenth_simulator) +- [Veddar VESC Interface](https://github.com/f1tenth/vesc) +- [Cartographer](https://github.com/cartographer-project/cartographer) +- [Cartographer ROS Integration](https://github.com/cartographer-project/cartographer_ros) +- [global_racetrajectory_optimization](https://github.com/TUMFTM/global_racetrajectory_optimization) +- [RangeLibc](https://github.com/kctess5/range_libc) +- [BayesOpt4ROS](https://github.com/IntelligentControlSystems/bayesopt4ros) +- [cpu_monitor](https://github.com/alspitz/cpu_monitor) + + +## Citing ForzaETH Race Stack + +If you found our race stack helpful in your research, we would appreciate if you cite it as follows: +``` +@misc{baumann2024forzaeth, + title={ForzaETH Race Stack - Scaled Autonomous Head-to-Head Racing on Fully Commercial off-the-Shelf Hardware}, + author={Nicolas Baumann and Edoardo Ghignone and Jonas Kühne and Niklas Bastuck and Jonathan Becker and Nadine Imholz and Tobias Kränzlin and Tian Yi Lim and Michael Lötscher and Luca Schwarzenbach and Luca Tognoni and Christian Vogt and Andrea Carron and Michele Magno}, + year={2024}, + eprint={2403.11784} +} +``` diff --git a/TROUBLESHOOTING.md b/TROUBLESHOOTING.md new file mode 100644 index 0000000..07190df --- /dev/null +++ b/TROUBLESHOOTING.md @@ -0,0 +1,12 @@ +# TROUBLESHOOTING + +## `catkin clean` fails in the docker cointainer setup +As the `build`, `devel`, and `logs` foder are mounted from outside, trying to run `catkin clean` will fail. This however is not a problem, as only the deletion of the actul folders is prevented. The packages are anyway actually cleaned by the command `catkin clean`. + +## Running `./main_dock.sh` returns error `Error response from daemon: Conflict. The container name "/forzaeth_devcontainer" is already in use by container ...` +The container is already running, if you want to attach to it you can use the [`./main_attach_dock.sh`](.docker_utils/main_attach_dock.sh) script. If you want to completely remove it and restart it you can do it by removing it with the command `docker rm forzaeth_devcontainer` and then running the [`./main_dock.sh`](.docker_utils/main_dock.sh) script. +This error might also happen when trying to run the `.devcontainer`, in that case the removing solution explained above is still valid. + +## Running `./sec_dock.sh` returns error `Error response from daemon: Container ... is not running` +The container is not running, if already run you can restart it with the [`./main_attach.sh`](.docker_utils/main_attach_dock.sh) otherwise you can start it with the [`./main_dock.sh`](.docker_utils/main_dock.sh) script. + diff --git a/base_system/README.md b/base_system/README.md new file mode 100644 index 0000000..22eab93 --- /dev/null +++ b/base_system/README.md @@ -0,0 +1,6 @@ +# base_system +![System Architecture](./misc/sys_arch_with_sim.png) + +In the base system you can use either the sim or the physical system. Both base systems have the same interfacing (i.e. topics) as can be further understood in [here](./f1tenth_system/README.md). + + diff --git a/base_system/f110-simulator b/base_system/f110-simulator new file mode 160000 index 0000000..8b7edeb --- /dev/null +++ b/base_system/f110-simulator @@ -0,0 +1 @@ +Subproject commit 8b7edeb6e45240efbd15e1c525c752232efe6dc8 diff --git a/base_system/f1tenth_system b/base_system/f1tenth_system new file mode 160000 index 0000000..19b0da8 --- /dev/null +++ b/base_system/f1tenth_system @@ -0,0 +1 @@ +Subproject commit 19b0da8a54af96f6c39b9ddf830a1b45603f1c43 diff --git a/base_system/misc/sys_arch_with_sim.png b/base_system/misc/sys_arch_with_sim.png new file mode 100644 index 0000000..c86a4b5 Binary files /dev/null and b/base_system/misc/sys_arch_with_sim.png differ diff --git a/controller/CMakeLists.txt b/controller/CMakeLists.txt new file mode 100644 index 0000000..62f1bf8 --- /dev/null +++ b/controller/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(controller) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/dyn_l1_params_tuner.cfg +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES f110_controller +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/f110_controller.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/f110_controller_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +# Mark executable scripts (Python etc.) for installation +# in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# map/src/L1_controller.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executa bles for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_f110_controller.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/controller/README.md b/controller/README.md new file mode 100644 index 0000000..ed5ca82 --- /dev/null +++ b/controller/README.md @@ -0,0 +1,32 @@ +# Controller +![Controller Architecture](./misc/controller_arch.png) + +This controller package implements the following controllers, with more details in the respective READMEs: +- [MAP controller](./map/README.md) +- [Pure Pursuit controller](./pp/README.md) +- [Follow the Gap controller](./ftg/README.md) + +The `control_node` implemented in `controller_manager.py` initializes the needed controllers. It runs at a specified loop rate where in each cycle the next control inputs are calculated via the choosen controller. + +## Input/Output Topic Signature +This nodes subscribes to: +- `/perception/obstacles`: Subscribes to the obstacle array. +- `/car_state/odom`: Reads the car's state +- `/car_state/pose`: Reads the car's state +- `/car_state/odom_frenet`: Reads the car's state +- `/local_waypoints`: Subscribes to local waypoints. +- `/vesc/sensors/imu/raw`: Reads the IMU measurements. +- `/scan`: Reads the LiDAR scans. +- `/state_machine`: Listens to the state of the state machine. +- `/l1_param_tuner/parameter_updates`: Listens to the L1 parameters. + + +The node publishes to: +- `/vesc/high_level/ackermann_cmd_mux/input/nav_1`: Publishes the control commands. +- `/lookahead_point`: Publishes lookahead point marker. +- `/trailing_opponent_marker`: Published trailing opponend marker. +- `/my_waypoints`: Publishes marker array of the received waypoints. +- `/l1_distance`: Publishes the L1 distance. +- `/trailing/gap_data`: Publishes the PID data for trailing. +- `/controller/latency`: Publishes the latency of the controller. + diff --git a/controller/cfg/dyn_l1_params_tuner.cfg b/controller/cfg/dyn_l1_params_tuner.cfg new file mode 100644 index 0000000..1f4eff1 --- /dev/null +++ b/controller/cfg/dyn_l1_params_tuner.cfg @@ -0,0 +1,32 @@ +#!/usr/bin/env python3 +PACKAGE = "controller" +import rospkg +import yaml, os +import rospy +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +#L1 Parameters (Lateral Controller) +gen.add("t_clip_min", double_t, 0, "minimum l1 distance", 0.3, 0, 1.5) +gen.add("t_clip_max", double_t, 0, "maximum l1 distance", 5, 0, 10) +gen.add("m_l1", double_t, 0, "slope l1/velocity relation", 0.3, 0, 1.0) # default = 0.583 +gen.add("q_l1", double_t, 0, "intercept of l1/velocity relation", 0.1569, -1, 1) +gen.add("speed_lookahead", double_t, 0, "time of forward propagation with constant velocity", 0, 0, 1) +gen.add("lat_err_coeff", double_t, 0, "0 means no account for lateral error, 1 means maximum accounting", 1.0, 0, 1.0) +gen.add("acc_scaler_for_steer", double_t, 0, "acceleration scaler for steer", 1.0, 0, 1.5) +gen.add("dec_scaler_for_steer", double_t, 0, "deceleration scaler for steer", 1.0, 0, 1.5) +gen.add("start_scale_speed", double_t, 0, "up to this speed the steer is normal", 7.0, 0, 10.0) +gen.add("end_scale_speed", double_t, 0, "from this speed on the speed is (1-downscale_factor) and between it linearly goes down", 8.0, 0, 10.0) +gen.add("downscale_factor", double_t, 0, "downscale factor", 0.2, 0, 0.5) +gen.add("speed_lookahead_for_steer", double_t, 0, "time of forward propagation", 0.0, 0, 0.2) +# Trailing Controller Parameters + +gen.add("prioritize_dyn", bool_t, 0, "Always prioritize Dynamic obstacle, even if Static is closer") +gen.add("trailing_gap", double_t, 0, "Gap to the Opponent in Meters or Seconds", 0.0, 0, 3) +gen.add("trailing_p_gain", double_t, 0, "P-Gain of Trailing Controller", 0.0, 0, 3) +gen.add("trailing_i_gain", double_t, 0, "I-Gain of Trailing Controller", 0.0, 0, 0.5) +gen.add("trailing_d_gain", double_t, 0, "D-Gain of Trailing Controller", 0.0, 0, 1) +gen.add("blind_trailing_speed", double_t, 0, "Minimal Speed of Trailing when not seeing the opponent", 1.5, 0, 3) + +exit(gen.generate(PACKAGE, "dynamic_l1_params", "dyn_l1_params_tuner")) diff --git a/controller/controller_manager.py b/controller/controller_manager.py new file mode 100755 index 0000000..b972be0 --- /dev/null +++ b/controller/controller_manager.py @@ -0,0 +1,630 @@ +#!/usr/bin/env python3 + +import threading +import time + +import numpy as np +import rospy +from ackermann_msgs.msg import AckermannDriveStamped +from dynamic_reconfigure.msg import Config +from f110_msgs.msg import ObstacleArray, PidData, WpntArray +from sensor_msgs.msg import LaserScan +from frenet_converter.frenet_converter import FrenetConverter +from geometry_msgs.msg import Point, PoseStamped +from nav_msgs.msg import Odometry +from sensor_msgs.msg import Imu +from std_msgs.msg import Float64, String, Float32 +from tf.transformations import euler_from_quaternion, quaternion_from_euler +from visualization_msgs.msg import Marker, MarkerArray +from map.src.MAP_Controller import MAP_Controller +from pp.src.PP_Controller import PP_Controller +from ftg.ftg import FTG + +class Controller_manager: + """This class is the main controller manager for the car. It is responsible for selecting the correct controller $ + and publishing the corresponding commands to the actuators. + + It subscribes to the following topics: + - /car_state/odom: get ego car speed + - /car_state/pose: get ego car position (x, y, theta) + - /local_waypoints: get waypoints starting at car's position in map frame + - /vesc/sensors/imu/raw: get acceleration for steer scaling + - /car_state/odom_frenet: get ego car frenet coordinates + - /perception/obstacles: get opponent information (position, speed, static/dynamic) + - /state_machine: get state of the car + - /scan: get lidar scan data + + It publishes the following topics: + - /lookahead_point: publish the lookahead point for visualization + - /trailing_opponent_marker: publish the trailing opponent marker for visualization + - /my_waypoints: publish the waypoints for visualization + - /l1_distance: publish the l1 distance from the MAP Controller for visualization + - /trailing/gap_data: publish the PID data of the Trailing controller for tuning if flag1 is True + - /vesc/high_level/ackermann_cmd_mux/input/nav_1: publish the steering and speed command + - /controller/latency: publish the latency of the controller for measuring if launched with measure:=true + + """ + def __init__(self): + self.name = "control_node" + rospy.init_node(self.name, anonymous=True) + self.lock = threading.Lock() + self.loop_rate = 40 # rate in hertz + self.ros_time = rospy.Time() + self.scan = None + + self.mapping = rospy.get_param('controller_manager/mapping', False) + if self.mapping: + self.init_mapping() + else: + self.init_controller() + + + def init_controller(self): + self.racecar_version = rospy.get_param('/racecar_version') # NUCX + self.LUT_name = rospy.get_param('controller_manager/LU_table') # name of lookup table + self.ctrl_algo = rospy.get_param('controller_manager/ctrl_algo', 'MAP') # default controller + self.l1_params = rospy.get_param('L1_controller') + self.use_sim = rospy.get_param('/sim') + self.wheelbase = rospy.get_param('/model_params/l_wb', 0.35) # NUCX + rospy.loginfo(f"[{self.name}] Using {self.LUT_name}") + self.measuring = rospy.get_param('/measure', False) + + self.state_machine_rate = rospy.get_param('state_machine/rate') #rate in hertz + self.position_in_map = [] # current position in map frame + self.position_in_map_frenet = [] # current position in frenet coordinates + self.waypoint_list_in_map = [] # waypoints starting at car's position in map frame + self.speed_now = 0 # current speed + self.acc_now = np.zeros(5) # last 5 accleration values + self.waypoint_safety_counter = 0 + + # Trailing related variables + self.opponent = [0,0,0,False, True] #s, d, vs, is_static + self.state = "" + self.gap_actual = None + self.trailing_command = 2 + self.i_gap = 0 + + self.converter = None + + # initializing l1 parameter + # This step could be removed with rospy.wait_for_message() in control loop + self.t_clip_min = 1 + self.t_clip_max = 5 + self.m_l1 = 0.3 + self.q_l1 = 0.15 + self.speed_lookahead = 0 + self.lat_err_coeff = 1 + self.acc_scaler_for_steer = 1.0 + self.dec_scaler_for_steer = 1.0 + self.start_scale_speed = 7.0 + self.end_scale_speed = 8.0 + self.downscale_factor = 0.2 + self.speed_lookahead_for_steer = 0 + + self.prioritize_dyn = True + + self.trailing_gap = 1.5 + self.trailing_p_gain = 0.5 + self.trailing_i_gain = 0.001 + self.trailing_d_gain = 0.2 + self.blind_trailing_speed = 1.5 + + # buffers for improved computation + self.waypoint_array_buf = MarkerArray() + self.markers_buf = [Marker() for _ in range(1000)] + + + # Parameters + for i in range(5): + # waiting for this message twice, as the republisher needs it first to compute the wanted param + waypoints = rospy.wait_for_message('/global_waypoints', WpntArray) + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in waypoints.wpnts]) + + self.track_length = rospy.get_param("/global_republisher/track_length") + + + # FTG + self.ftg_controller = FTG() + # initialize MAP controller + self.map_controller = MAP_Controller( + self.t_clip_min, + self.t_clip_max, + self.m_l1, + self.q_l1, + self.speed_lookahead, + self.lat_err_coeff, + self.acc_scaler_for_steer, + self.dec_scaler_for_steer, + self.start_scale_speed, + self.end_scale_speed, + self.downscale_factor, + self.speed_lookahead_for_steer, + + self.prioritize_dyn, + self.trailing_gap, + self.trailing_p_gain, + self.trailing_i_gain, + self.trailing_d_gain, + self.blind_trailing_speed, + + self.loop_rate, + self.LUT_name, + self.state_machine_rate, + + logger_info=rospy.loginfo, + logger_warn=rospy.logwarn + ) + + # initialize PP controller + self.pp_controller = PP_Controller( + self.t_clip_min, + self.t_clip_max, + self.m_l1, + self.q_l1, + self.speed_lookahead, + self.lat_err_coeff, + self.acc_scaler_for_steer, + self.dec_scaler_for_steer, + self.start_scale_speed, + self.end_scale_speed, + self.downscale_factor, + self.speed_lookahead_for_steer, + + self.prioritize_dyn, + self.trailing_gap, + self.trailing_p_gain, + self.trailing_i_gain, + self.trailing_d_gain, + self.blind_trailing_speed, + + self.loop_rate, + self.wheelbase, + self.state_machine_rate, + + logger_info=rospy.loginfo, + logger_warn=rospy.logwarn + ) + + + # Publishers to view data + self.lookahead_pub = rospy.Publisher('lookahead_point', Marker, queue_size=10) + self.trailing_pub = rospy.Publisher('trailing_opponent_marker', Marker, queue_size=10) + self.waypoint_pub = rospy.Publisher('my_waypoints', MarkerArray, queue_size=10) + self.l1_pub = rospy.Publisher('l1_distance', Point, queue_size=10) + self.gap_data = rospy.Publisher('/trailing/gap_data', PidData, queue_size=10) + # Publisher for steering and speed command + self.publish_topic = '/vesc/high_level/ackermann_cmd_mux/input/nav_1' + self.drive_pub = rospy.Publisher(self.publish_topic, AckermannDriveStamped, queue_size=10) + if self.measuring: + self.measure_pub = rospy.Publisher('/controller/latency', Float32, queue_size=10) + + + # Subscribers + rospy.Subscriber('/car_state/odom', Odometry, self.odom_cb) # car speed + rospy.Subscriber('/car_state/pose', PoseStamped, self.car_state_cb) # car position (x, y, theta) + rospy.Subscriber('/local_waypoints', WpntArray, self.local_waypoint_cb) # waypoints (x, y, v, norm trackbound, s, kappa) + rospy.Subscriber('/vesc/sensors/imu/raw', Imu, self.imu_cb) # acceleration subscriber for steer change + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.car_state_frenet_cb) # car frenet coordinates + rospy.Subscriber("/l1_param_tuner/parameter_updates", Config, self.l1_params_cb) #l1 param tuning/updating + rospy.Subscriber("/perception/obstacles", ObstacleArray, self.obstacle_cb) + rospy.Subscriber("/state_machine", String, self.state_cb) + rospy.Subscriber("/scan", LaserScan, self.scan_cb) + + self.converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo(f"[{self.name}] initialized FrenetConverter object") + + def init_mapping(self): + rospy.logwarn(f"[{self.name}] Initializing for mapping") + # Use FTG for mapping + self.ftg_controller = FTG(mapping=False) + + # Publisher + self.publish_topic = '/vesc/high_level/ackermann_cmd_mux/input/nav_1' + self.drive_pub = rospy.Publisher(self.publish_topic, AckermannDriveStamped, queue_size=10) + + # Subscribers + rospy.Subscriber('/car_state/odom', Odometry, self.odom_mapping_cb) # car speed + rospy.Subscriber("/scan", LaserScan, self.scan_cb) + + + rospy.loginfo(f"[{self.name}] initialized for mapping") + + ############################################CALLBACKS############################################ + def scan_cb(self, data: LaserScan): + self.scan = data + + def obstacle_cb(self, data:ObstacleArray): + if len(data.obstacles) > 0 and len(self.position_in_map_frenet): + self.opponent_s = None + static_flag = False # If we have a Static and a Dynamic obstacle we prefer the dynamic + closest_opp = self.track_length + for obstacle in data.obstacles: + opponent_dist = (obstacle.s_start - self.position_in_map_frenet[0]) % self.track_length + if opponent_dist < closest_opp or (static_flag and not obstacle.is_static): + closest_opp = opponent_dist + opponent_static = obstacle.is_static + opponent_s = obstacle.s_center + opponent_d = obstacle.d_center + opponent_vs = obstacle.vs + opponent_visible = obstacle.is_visible + if opponent_static: + static_flag = self.prioritize_dyn # Chosen Obstacle is static + else: + static_flag = False # Chosen obstacle is dynamic + self.opponent = [opponent_s, opponent_d, opponent_vs, opponent_static, opponent_visible] + else: + self.opponent = None + + def state_cb(self, data): + self.state = data.data + + def l1_params_cb(self, params:Config): + """ + Here the l1 parameters are updated if changed with rqt (dyn reconfigure) + Values from .yaml file are set in l1_params_server.py + """ + + ## Updating params for map and pp controller + ## Lateral Control Parameters + self.map_controller.t_clip_min = params.doubles[0].value + self.map_controller.t_clip_max = params.doubles[1].value + self.map_controller.m_l1 = params.doubles[2].value + self.map_controller.q_l1 = params.doubles[3].value + self.map_controller.speed_lookahead = params.doubles[4].value + self.map_controller.lat_err_coeff = params.doubles[5].value + self.map_controller.acc_scaler_for_steer = params.doubles[6].value + self.map_controller.dec_scaler_for_steer = params.doubles[7].value + self.map_controller.start_scale_speed = params.doubles[8].value + self.map_controller.end_scale_speed = params.doubles[9].value + self.map_controller.downscale_factor = params.doubles[10].value + self.map_controller.speed_lookahead_for_steer = params.doubles[11].value + + self.pp_controller.t_clip_min = params.doubles[0].value + self.pp_controller.t_clip_max = params.doubles[1].value + self.pp_controller.m_l1 = params.doubles[2].value + self.pp_controller.q_l1 = params.doubles[3].value + self.pp_controller.speed_lookahead = params.doubles[4].value + self.pp_controller.lat_err_coeff = params.doubles[5].value + self.pp_controller.acc_scaler_for_steer = params.doubles[6].value + self.pp_controller.dec_scaler_for_steer = params.doubles[7].value + self.pp_controller.start_scale_speed = params.doubles[8].value + self.pp_controller.end_scale_speed = params.doubles[9].value + self.pp_controller.downscale_factor = params.doubles[10].value + self.pp_controller.speed_lookahead_for_steer = params.doubles[11].value + ## Trailing Control Parameters + self.map_controller.prioritize_dyn = params.bools[0].value #True, prioritize dynamic obstacles always + self.map_controller.trailing_gap = params.doubles[12].value # Distance in meters + self.map_controller.trailing_p_gain = params.doubles[13].value + self.map_controller.trailing_i_gain = params.doubles[14].value + self.map_controller.trailing_d_gain = params.doubles[15].value + self.map_controller.blind_trailing_speed = params.doubles[16].value + + self.pp_controller.prioritize_dyn = params.bools[0].value #True, prioritize dynamic obstacles always + self.pp_controller.trailing_gap = params.doubles[12].value # Distance in meters + self.pp_controller.trailing_p_gain = params.doubles[13].value + self.pp_controller.trailing_i_gain = params.doubles[14].value + self.pp_controller.trailing_d_gain = params.doubles[15].value + self.pp_controller.blind_trailing_speed = params.doubles[16].value + + def odom_mapping_cb(self, data: Odometry): + # velocity for follow the gap (needed to set gap radius) + self.ftg_controller.set_vel(data.twist.twist.linear.x) + + def odom_cb(self, data: Odometry): + self.speed_now = data.twist.twist.linear.x + self.map_controller.speed_now = self.speed_now + self.pp_controller.speed_now = self.speed_now + + # velocity for follow the gap (needed to set gap radius) + self.ftg_controller.set_vel(data.twist.twist.linear.x) + + def car_state_cb(self, data: PoseStamped): + x = data.pose.position.x + y = data.pose.position.y + theta = euler_from_quaternion([data.pose.orientation.x, data.pose.orientation.y, + data.pose.orientation.z, data.pose.orientation.w])[2] + self.position_in_map = np.array([x, y, theta])[np.newaxis] + + # This function is currently not used + def car_state_frenet_cb(self, data: Odometry): + s = data.pose.pose.position.x + d = data.pose.pose.position.y + vs = data.twist.twist.linear.x + vd = data.twist.twist.linear.y + self.position_in_map_frenet = np.array([s,d,vs,vd]) + + def local_waypoint_cb(self, data: WpntArray): + self.waypoint_list_in_map = [] + for waypoint in data.wpnts: + waypoint_in_map = [waypoint.x_m, waypoint.y_m] + speed = waypoint.vx_mps + if waypoint.d_right + waypoint.d_left != 0: + self.waypoint_list_in_map.append([waypoint_in_map[0], + waypoint_in_map[1], + speed, + min(waypoint.d_left, waypoint.d_right)/(waypoint.d_right + waypoint.d_left), + waypoint.s_m, waypoint.kappa_radpm, waypoint.psi_rad, waypoint.ax_mps2] + ) + else: + self.waypoint_list_in_map.append([waypoint_in_map[0], waypoint_in_map[1], speed, 0, waypoint.s_m, waypoint.kappa_radpm, waypoint.psi_rad, waypoint.ax_mps2]) + self.waypoint_array_in_map = np.array(self.waypoint_list_in_map) + self.waypoint_safety_counter = 0 + + def imu_cb(self, data): + self.acc_now[1:] = self.acc_now[:-1] + self.acc_now[0] = -data.linear_acceleration.y # vesc is rotated 90 deg, so (-acc_y) == (long_acc) + + ############################################MAIN LOOP############################################ + + def control_loop(self): + rate = rospy.Rate(self.loop_rate) + + if self.mapping: + self.mapping_loop(rate) + else: + self.controller_loop(rate) + + def mapping_loop(self, rate: rospy.Rate): + rospy.wait_for_message('/scan', LaserScan) + rospy.wait_for_message('/car_state/odom', Odometry) + rospy.loginfo(f"[{self.name}] Ready for mapping!") + + while not rospy.is_shutdown(): + speed, acceleration, jerk, steering_angle = 0, 0, 0, 0 + speed, steering_angle = self.ftg_controller.process_lidar(self.scan.ranges) + ack_msg = self.create_ack_msg(speed, acceleration, jerk, steering_angle) + self.drive_pub.publish(ack_msg) + rate.sleep() + + def controller_loop(self, rate: rospy.Rate): + rospy.loginfo(f"[{self.name}] Waiting for local Waypoints") + rospy.wait_for_message('/local_waypoints', WpntArray) + rospy.wait_for_message('/global_waypoints', WpntArray) + rospy.wait_for_message('/car_state/odom', Odometry) + rospy.wait_for_service("convert_glob2frenet_service") + rospy.loginfo(f"[{self.name}] Local Waypoints received") + rospy.loginfo(f"[{self.name}] Waiting for car_state/pose") + rospy.wait_for_message('/car_state/pose', PoseStamped) + self.track_length = rospy.get_param("/global_republisher/track_length") + rospy.loginfo(f"[{self.name}] Ready!") + + while not rospy.is_shutdown(): + if self.measuring: + start = time.perf_counter() + #lock wpnts to not get changed trough loop + with self.lock: + self.set_waypoint_markers(self.waypoint_array_in_map) + #initializing ackermann variables + speed, acceleration, jerk, steering_angle = 0, 0, 0, 0 + + #Logic to select controller + if self.state != "FTGONLY" and self.ctrl_algo == "MAP": + speed, acceleration, jerk, steering_angle = self.map_cycle() + + elif self.state != "FTGONLY" and self.ctrl_algo == "PP": + speed, acceleration, jerk, steering_angle = self.pp_cycle() + + elif self.state == "FTGONLY": + speed, steering_angle = self.ftg_cycle() + + else: + rospy.logwarn(f"[{self.name}] No valid controller selected") + + if self.measuring: + end = time.perf_counter() + self.measure_pub.publish(end-start) + ack_msg = self.create_ack_msg(speed, acceleration, jerk, steering_angle) + self.drive_pub.publish(ack_msg) + rate.sleep() + + +############################################HELPERS############################################ + def map_cycle(self): + speed, acceleration, jerk, steering_angle, L1_point, L1_distance, idx_nearest_waypoint = self.map_controller.main_loop(self.state, + self.position_in_map, + self.waypoint_array_in_map, + self.speed_now, + self.opponent, + self.position_in_map_frenet, + self.acc_now, + self.track_length) + + self.set_lookahead_marker(L1_point, 100) + self.visualize_steering(steering_angle) + self.visualize_trailing_opponent() + self.l1_pub.publish(Point(x=idx_nearest_waypoint, y=L1_distance)) + + + self.waypoint_safety_counter += 1 + if self.waypoint_safety_counter >= self.loop_rate/self.state_machine_rate* 10: #we can use the same waypoints for 5 cycles + rospy.logerr_throttle(0.5, f"[{self.name}] Received no local wpnts. STOPPING!!") + speed = 0 + steering_angle = 0 + self.map_controller.flag1 = False + + # Publish PID data of the Trailing controller for tuning + if self.map_controller.flag1 == True: + pid_msg = self.create_pid_msg(self.map_controller.gap_should, + self.map_controller.gap, + self.map_controller.gap_error, + self.map_controller.v_diff, + self.map_controller.i_gap, + self.map_controller.trailing_command) + self.gap_data.publish(pid_msg) + + return speed, acceleration, jerk, steering_angle + + def pp_cycle(self): + speed, acceleration, jerk, steering_angle, L1_point, L1_distance, idx_nearest_waypoint = self.pp_controller.main_loop(self.state, + self.position_in_map, + self.waypoint_array_in_map, + self.speed_now, + self.opponent, + self.position_in_map_frenet, + self.acc_now, + self.track_length) + + self.set_lookahead_marker(L1_point, 100) + self.visualize_steering(steering_angle) + self.visualize_trailing_opponent() + self.l1_pub.publish(Point(x=idx_nearest_waypoint, y=L1_distance)) + + + self.waypoint_safety_counter += 1 + if self.waypoint_safety_counter >= self.loop_rate/self.state_machine_rate* 10: #we can use the same waypoints for 5 cycles + rospy.logerr_throttle(0.5, f"[{self.name}] Received no local wpnts. STOPPING!!") + speed = 0 + steering_angle = 0 + self.pp_controller.flag1 = False + + # Publish PID data of the Trailing controller for tuning + if self.pp_controller.flag1 == True: + pid_msg = self.create_pid_msg(self.pp_controller.gap_should, + self.pp_controller.gap, + self.pp_controller.gap_error, + self.pp_controller.v_diff, + self.pp_controller.i_gap, + self.pp_controller.trailing_command) + self.gap_data.publish(pid_msg) + + return speed, acceleration, jerk, steering_angle + + def ftg_cycle(self): + speed, steer = self.ftg_controller.process_lidar(self.scan.ranges) + rospy.logwarn(f"[{self.name}] FTGONLY!!!") + return speed, steer + + def create_pid_msg(self, should, actual, error, d_value, i_value, input): + pid_msg = PidData() + pid_msg.header.stamp = rospy.Time.now() + pid_msg.should = should + pid_msg.actual = actual + pid_msg.error = error + pid_msg.d_value = d_value + pid_msg.i_value = i_value + pid_msg.input = input + return pid_msg + + def create_ack_msg(self, speed, acceleration, jerk, steering_angle): + ack_msg = AckermannDriveStamped() + ack_msg.header.stamp = self.ros_time.now() + ack_msg.header.frame_id = 'base_link' + ack_msg.drive.steering_angle = steering_angle + ack_msg.drive.speed = speed + ack_msg.drive.jerk = jerk + ack_msg.drive.acceleration = acceleration + return ack_msg + +############################################MSG CREATION############################################ +# visualization utilities + def visualize_steering(self, theta): + + quaternions = quaternion_from_euler(0, 0, theta) + + lookahead_marker = Marker() + lookahead_marker.header.frame_id = "base_link" + lookahead_marker.header.stamp = self.ros_time.now() + lookahead_marker.type = Marker.ARROW + lookahead_marker.id = 50 + lookahead_marker.scale.x = 0.6 + lookahead_marker.scale.y = 0.05 + lookahead_marker.scale.z = 0 + lookahead_marker.color.r = 1.0 + lookahead_marker.color.g = 0.0 + lookahead_marker.color.b = 0.0 + lookahead_marker.color.a = 1.0 + lookahead_marker.lifetime = rospy.Duration() + lookahead_marker.pose.position.x = 0 + lookahead_marker.pose.position.y = 0 + lookahead_marker.pose.position.z = 0 + lookahead_marker.pose.orientation.x = quaternions[0] + lookahead_marker.pose.orientation.y = quaternions[1] + lookahead_marker.pose.orientation.z = quaternions[2] + lookahead_marker.pose.orientation.w = quaternions[3] + self.lookahead_pub.publish(lookahead_marker) + + def set_waypoint_markers(self, waypoints): + wpnt_id = 0 + + for waypoint in waypoints: + waypoint_marker = self.markers_buf[wpnt_id] + waypoint_marker.header.frame_id = "map" + waypoint_marker.header.stamp = self.ros_time.now() + waypoint_marker.type = 2 + waypoint_marker.scale.x = 0.1 + waypoint_marker.scale.y = 0.1 + waypoint_marker.scale.z = 0.1 + waypoint_marker.color.r = 0.0 + waypoint_marker.color.g = 0.0 + waypoint_marker.color.b = 1.0 + waypoint_marker.color.a = 1.0 + waypoint_marker.pose.position.x = waypoint[0] + waypoint_marker.pose.position.y = waypoint[1] + waypoint_marker.pose.position.z = 0 + waypoint_marker.pose.orientation.x = 0 + waypoint_marker.pose.orientation.y = 0 + waypoint_marker.pose.orientation.z = 0 + waypoint_marker.pose.orientation.w = 1 + waypoint_marker.id = wpnt_id + 1 + wpnt_id += 1 + self.waypoint_array_buf.markers = self.markers_buf[:wpnt_id] + self.waypoint_pub.publish(self.waypoint_array_buf) + + def set_lookahead_marker(self, lookahead_point, id): + lookahead_marker = Marker() + lookahead_marker.header.frame_id = "map" + lookahead_marker.header.stamp = self.ros_time.now() + lookahead_marker.type = 2 + lookahead_marker.id = id + lookahead_marker.scale.x = 0.15 + lookahead_marker.scale.y = 0.15 + lookahead_marker.scale.z = 0.15 + lookahead_marker.color.r = 1.0 + lookahead_marker.color.g = 0.0 + lookahead_marker.color.b = 0.0 + lookahead_marker.color.a = 1.0 + lookahead_marker.pose.position.x = lookahead_point[0] + lookahead_marker.pose.position.y = lookahead_point[1] + lookahead_marker.pose.position.z = 0 + lookahead_marker.pose.orientation.x = 0 + lookahead_marker.pose.orientation.y = 0 + lookahead_marker.pose.orientation.z = 0 + lookahead_marker.pose.orientation.w = 1 + self.lookahead_pub.publish(lookahead_marker) + + def visualize_trailing_opponent(self): + if(self.state == "TRAILING" and (self.opponent is not None)): + on = True + else: + on = False + opponent_marker = Marker() + opponent_marker.header.frame_id = "map" + opponent_marker.header.stamp = self.ros_time.now() + opponent_marker.type = 2 + opponent_marker.scale.x = 0.3 + opponent_marker.scale.y = 0.3 + opponent_marker.scale.z = 0.3 + opponent_marker.color.r = 1.0 + opponent_marker.color.g = 0.0 + opponent_marker.color.b = 0.0 + opponent_marker.color.a = 1.0 + if self.opponent is not None: + pos = self.converter.get_cartesian([self.opponent[0]], [self.opponent[1]]) + opponent_marker.pose.position.x = pos[0] + opponent_marker.pose.position.y = pos[1] + opponent_marker.pose.position.z = 0 + + opponent_marker.pose.orientation.x = 0 + opponent_marker.pose.orientation.y = 0 + opponent_marker.pose.orientation.z = 0 + opponent_marker.pose.orientation.w = 1 + if on == False: + opponent_marker.action = Marker.DELETE + self.trailing_pub.publish(opponent_marker) + + +if __name__ == "__main__": + # client = dynamic_reconfigure.client.Client("MAP params", timeout=30, config_callback=callback) + controller_manager = Controller_manager() + controller_manager.control_loop() + diff --git a/controller/ftg/README.md b/controller/ftg/README.md new file mode 100644 index 0000000..01a7848 --- /dev/null +++ b/controller/ftg/README.md @@ -0,0 +1,12 @@ +# Follow The Gap + +## Description +The Follow-The-Gap (FTG) Controller is a simple reactive controller which uses directly the LiDAR scans and the car's pose to compute and publish the velocity and steering angle of the car. In our race stack, the FTG controller is mainly used for mapping, so that we do not have to drive manually around the track. However, even though never used in practice anymore, there is the possibility to set a sector in the state machine as `FTGONLY` and then the FTG controller managed by `controller_manager.py` is used during these sectors. + + ## Parameters + - `track_width`: Approximate width of the track. + - `max_speed`: Maximum speed allowed. + - `safety_radius`: Safety radius to reduce cutting corners. + - `max_lidar_dist`: Maximum possible scan distance of the LiDAR. + - `range_offset`: Range of LiDAR points to be considered, only consider `[range_offset,-range_offset]`. + - `debug`: If set to `True`, the best gap, best point and preprocessed LiDAR scans are published as Markers. diff --git a/controller/ftg/ftg.py b/controller/ftg/ftg.py new file mode 100755 index 0000000..6b19bab --- /dev/null +++ b/controller/ftg/ftg.py @@ -0,0 +1,310 @@ +#!/usr/bin/env python3 +import math +import numpy as np +import rospy +from visualization_msgs.msg import Marker, MarkerArray + + +class FTG: + DEBUG = rospy.get_param('/state_machine/debug') + #Lidar processing params + PREPROCESS_CONV_SIZE = 3 + SAFETY_RADIUS = rospy.get_param('/state_machine/safety_radius') + MAX_LIDAR_DIST = rospy.get_param('/state_machine/max_lidar_dist') + + # Speed params + MAX_SPEED = rospy.get_param('/state_machine/max_speed', 1.5) + scale = 0.6 # .575 is max + CORNERS_SPEED = 0.3 * MAX_SPEED * scale + MILD_CORNERS_SPEED = 0.45 * MAX_SPEED * scale + STRAIGHTS_SPEED = 0.8 * MAX_SPEED * scale + ULTRASTRAIGHTS_SPEED = MAX_SPEED * scale + + #Steering params + STRAIGHTS_STEERING_ANGLE = np.pi / 18 # 10 degrees + MILD_CURVE_ANGLE = np.pi / 6 # 30 degrees + ULTRASTRAIGHTS_ANGLE = np.pi / 60 # 3 deg + + def __init__(self, mapping=False) -> None: + """ + Initialize the FTG controller. + + Parameters: + mapping (bool): Flag indicating whether FTG is used for mapping or not. + """ + self.mapping = mapping + + self.radians_per_elem = None # used when calculating the angles of the LiDAR data + self.range_offset = rospy.get_param('/state_machine/range_offset') + self.track_width = rospy.get_param('/state_machine/track_width', 2.0) + + self.velocity = 0 + self.scan = None + + self.best_pnt = rospy.Publisher('/best_points/marker', Marker, queue_size=10) + self.scan_pub = rospy.Publisher('/scan_proc/markers', MarkerArray, queue_size=10) + self.best_gap = rospy.Publisher('/best_gap/markers', MarkerArray, queue_size=10) + + def _preprocess_lidar(self, ranges) -> np.ndarray: + """ + Preprocess the LiDAR scan array. + + This method performs preprocessing on the LiDAR scan array. The preprocessing steps include: + 1. Setting each value to the mean over a specified window. + 2. Rejecting high values (e.g., values greater than 3m). + + Parameters: + ranges (numpy.ndarray): The LiDAR scan array. + + Returns: + numpy.ndarray: The preprocessed LiDAR scan array. + """ + self.radians_per_elem = (1.5 * np.pi) / len(ranges) + # we won't use the LiDAR data from directly behind us + # full angle is -135 135 + # every point in the array is + proc_ranges = np.array(ranges[self.range_offset:-self.range_offset]) + # sets each value to the mean over a given window to smoothen the signal + proc_ranges = np.convolve(proc_ranges, np.ones(self.PREPROCESS_CONV_SIZE)/self.PREPROCESS_CONV_SIZE, 'valid') + # clip the ranges between 0 and your maximum lidar distance + proc_ranges = np.clip(proc_ranges, 0, self.MAX_LIDAR_DIST) + # reverse lidar because it is right to left + return proc_ranges[::-1] + + def _get_steer_angle(self, point_x, point_y) -> float: + """ + Get the angle of a particular element in the LiDAR data and + transform it into an appropriate steering angle. + + Parameters: + point_x (float): The x-coordinate of the LiDAR data point + point_y (float): The y-coordinate of the LiDAR data point + + Returns: + float: The transformed steering angle + + """ + steering_angle = math.atan2(point_y, point_x) + return np.clip(steering_angle, -0.4, 0.4) + + def _get_best_range_point(self, proc_ranges) -> tuple: + """ + Find the best point i.e. the middle of the largest gap within the bubble radius. + + Parameters: + proc_ranges (list): List of processed ranges. + + Returns: + tuple: The x and y coordinates of the best point. + """ + #Get the bubble radius + radius = self._get_radius() + + #Find the largest gap + gap_left, gap_right = self._find_largest_gap(ranges=proc_ranges, radius=radius) + gap_left += self.range_offset - 180 + gap_right += self.range_offset - 180 + gap_middle = int((gap_right + gap_left) / 2) + #Calculate cartesian point of the best point position from the lidar measurements in laser frame + best_y = np.cos(gap_middle * self.radians_per_elem) * radius + best_x = np.sin(gap_middle * self.radians_per_elem) * radius + + if self.DEBUG: + #Delete old gaps from RVIZ + self._delete_gap_markers() + + #Visualise the gap + gap_markers = MarkerArray() + for i in range(gap_left, gap_right): + mrk = Marker() + mrk.header.frame_id = 'laser' + mrk.header.stamp = rospy.Time.now() + mrk.type = mrk.SPHERE + mrk.scale.x = 0.05 + mrk.scale.y = 0.05 + mrk.scale.z = 0.05 + mrk.color.a = 1.0 + mrk.color.r = 1.0 + mrk.color.g = 1.0 + mrk.id = i - gap_left + #Calculate cartesian point of the gap marker position from the lidar measurements in laser frame + mrk.pose.position.y = math.cos(i * self.radians_per_elem) * radius + mrk.pose.position.x = math.sin(i * self.radians_per_elem) * radius + mrk.pose.orientation.w = 1 + gap_markers.markers.append(mrk) + self.best_gap.publish(gap_markers) + + # visualize best point aka middle of the gap + best_mrk = Marker() + best_mrk.header.frame_id = 'laser' + best_mrk.header.stamp = rospy.Time.now() + best_mrk.type = best_mrk.SPHERE + best_mrk.scale.x = 0.2 + best_mrk.scale.y = 0.2 + best_mrk.scale.z = 0.2 + best_mrk.color.a = 1.0 + best_mrk.color.b = 1.0 + best_mrk.color.g = 1.0 + best_mrk.id = 0 + best_mrk.pose.position.y = best_y + best_mrk.pose.position.x = best_x + best_mrk.pose.orientation.w = 1 + self.best_pnt.publish(best_mrk) + + return best_x, best_y + + def process_lidar(self, ranges) -> tuple: + """ + Process each LiDAR scan as per the Follow Gap algorithm & + calculate the speed and steering angle. + + Parameters: + ranges (list): List of LiDAR scan ranges + + Returns: + tuple: A tuple containing the speed and steering angle + """ + #Preprocess the LiDAR to smoothen it + proc_ranges = self._preprocess_lidar(ranges) + + proc_ranges = self._safety_border(proc_ranges) + + if self.DEBUG: + scan_markers = MarkerArray() + for i, scan in enumerate(proc_ranges): + mrk = Marker() + mrk.header.frame_id = 'laser' + mrk.header.stamp = rospy.Time.now() + mrk.type = mrk.SPHERE + mrk.scale.x = 0.05 + mrk.scale.y = 0.05 + mrk.scale.z = 0.05 + mrk.color.a = 1.0 + mrk.color.r = 1.0 + mrk.color.b = 1.0 + + mrk.id = i + mrk.pose.position.x = math.sin(i* self.radians_per_elem) * scan + mrk.pose.position.y = math.cos(i* self.radians_per_elem) * scan + mrk.pose.orientation.w = 1 + scan_markers.markers.append(mrk) + self.scan_pub.publish(scan_markers) + + #Get best point to target aka middle of the largest gap + best_x, best_y = self._get_best_range_point(proc_ranges) + + #Get steer angle from best points + steering_angle = self._get_steer_angle(point_x=best_x, point_y=best_y) + + if self.mapping: + speed = 1.5 + else: + if abs(steering_angle) > self.MILD_CURVE_ANGLE: + speed = self.CORNERS_SPEED + elif abs(steering_angle) > self.STRAIGHTS_STEERING_ANGLE: + speed = self.MILD_CORNERS_SPEED + elif abs(steering_angle) > self.ULTRASTRAIGHTS_ANGLE: + speed = self.STRAIGHTS_SPEED + else: + speed = self.ULTRASTRAIGHTS_SPEED + + return speed, steering_angle + + def _find_largest_gap(self, ranges, radius) -> tuple: + """ + Find the index of the starting and ending of the largest gap and its width + + Parameters: + ranges (numpy.ndarray): Array of range values + radius (float): Threshold radius value + + Returns: + tuple: A tuple containing the index of the starting of the largest gap, + the index of the ending of the largest gap, and the width of the largest gap. + + """ + #Binarise the ranges in zeros for values under the radius threshold and ones for above and equal + bin_ranges = np.where(ranges >= radius, 1, 0) + + #Get largest gap from binary ranges + bin_diffs = np.abs(np.diff(bin_ranges)) + bin_diffs[0] = 1 + bin_diffs[-1] = 1 + + diff_idxs = bin_diffs.nonzero()[0] + #Check that binarised ranges are positive + high_gaps = [] + for i in range(len(diff_idxs)-1): + low = diff_idxs[i] + high = diff_idxs[i+1] + high_gaps.append(np.mean(bin_ranges[low:high]) > 0.5) + + gap_left = diff_idxs[np.argmax(high_gaps * np.diff(diff_idxs))] + gap_width = np.max(high_gaps * np.diff(diff_idxs)) + gap_right = gap_left + gap_width + + return gap_left, gap_right + + def _get_radius(self) -> float: + """ + Calculate the radius based on the track width and velocity. + + Returns: + float: The calculated radius. + """ + # Empirically determined that this radius choosing makes sense + return min(5., self.track_width / 2 + 2 * (self.velocity / self.MAX_SPEED)) + + def set_vel(self, velocity) -> None: + """ + Set the velocity of the car. + + Parameters: + velocity (float): The desired velocity value. + """ + self.velocity = velocity + + def _safety_border(self, ranges) -> np.ndarray: + """ + Add a safety bubble if there is a big increase in the range between two points. + + Parameters: + ranges (list): List of range values. + + Returns: + np.ndarray: Array of filtered range values. + """ + filtered = list(ranges) + ranges_len = len(ranges) + i = 0 + while i < ranges_len - 1: + if ranges[i + 1] - ranges[i] > 0.5: + for j in range(self.SAFETY_RADIUS): + if i + j < ranges_len: + filtered[i + j] = ranges[i] + i += self.SAFETY_RADIUS - 2 + i += 1 + # in other direction + i = ranges_len - 1 + while i > 0: + if ranges[i - 1] - ranges[i] > 0.5: + for j in range(self.SAFETY_RADIUS): + if i - j >= 0: + filtered[i - j] = ranges[i] + i = i - self.SAFETY_RADIUS + 2 + i -= 1 + return np.array(filtered) + + def _delete_gap_markers(self) -> None: + """ + Delete marker for rviz when not needed + """ + del_mrk_array = MarkerArray() + for i in range(1): + del_mrk = Marker() + del_mrk.header.frame_id = 'laser' + del_mrk.header.stamp = rospy.Time.now() + del_mrk.action = del_mrk.DELETEALL + del_mrk.id = i + del_mrk_array.markers.append(del_mrk) + self.best_gap.publish(del_mrk_array) diff --git a/controller/map/README.md b/controller/map/README.md new file mode 100644 index 0000000..e8e4531 --- /dev/null +++ b/controller/map/README.md @@ -0,0 +1,58 @@ +# Model- and Acceleration-based Pursuit (MAP) controller +The MAP Controller based on [Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing](https://arxiv.org/pdf/2209.04346.pdf) calculates and publishes the optimal steering angle based on a vehicle model and velocity to track a given trajectory. It is managed by the `controller_manager.py` node. + +## Longitudinal controller +The speed from the global optimizer is propagated to compensate for the delay and scaled according to the lateral error and the curvature of the waypoints. + + +``: description [minimum, maximum, tuned] + +- `speed_lookahead`: Lookahead time in seconds to account for actuation and computation delay [0, ∞, 0.25] +- `lat_err_coeff`: How much of the lateral error is taken into account to smoothly rejoin the trajectory. Higher values increase the dependence of the lateral error on the speed reduction. [0, 1, 1] + + +### Trailing Controller + +- `trailing_gap`: reference gap to the to-be-trailed opponent in meters[0, ∞, 1.5] +- `trailing_p_gain`: P-Gain of trailing controller [0, ∞, 1] +- `trailing_i_gain`: I-Gain of trailing controller [0, ∞, 0] +- `trailing_d_gain`: D-Gain of trailing controller [0, ∞, 0.2] +- `blind_trailing_speed`: Minimal Trailing speed when opponent not in line-of-sight [0, ∞, 1.5] +- `prioritize_dyn`: Ignore static obstacles, when a dynamic obstacle is present [False, True, True] + + +## Lateral controller +It uses the L1 guidance described in this paper: [Model- and Acceleration-based Pursuit Controller for High-Performance Autonomous Racing](https://arxiv.org/abs/2209.04346). + +The idea is to compute the lateral acceleration and covert this with a lookup table into steering angles. +To prevent oscillations when driving fast and to be able to track small curvatures, the L1 is scaled with delay compensated speed. For the lookup, the speed is propagated to compensate for the steering delay. +When accelerating faster then 1 m/s^2, the steering is reduced and for deacceleration higher than -1m/s^2 the steering is increased. + + +- `m_l1`: Proportional term for the affine mapping of the velocity to the lookahead distance +for the MAP controller [0, ∞, 0.6] +- `q_l1`: Offset term for the affine mapping of the velocity to the lookahead distance. [−∞, ∞, -0.18] +- `t_clip_min`: clipping value for minimal L1 distance [0, ∞, 0.8] +- `t_clip_max`: clipping value for maximal L1 distance [0, ∞, 5] + +![visualisation of L1 distance calculation](README_IMG/l1_dist.png) + +At high speeds the steering is downscaled by a factor to reduce tire slipping +- `start_scale_speed`: start of downscaling speed range [0, ∞, 7] +- `end_scale_speed`: end of downscaling speed range [0, ∞, 8] +- `downscale_factor`: percent of steer downscaling [0, 100, 20] + +![visualisation of speed scaling](README_IMG/speed_scaling.png) +- `acc_scaler_for_steer`: when accelerating stronger than 1m/s^2 the steering is increased by this factor [1, ∞, 1.2] +- `dec_scaler_for_steer`: when accelerating stronger than -1m/s^2 the steering is reduced by this factor [0, 1, 0.9] +- `speed_lookahead_for_steer`: Lookahead time in seconds propagate velocity, for steering lookup. Can increase laptime by cutting more corners [0, 0.2, 0] + + +## Basic Use + +The controller can be started by using the following command: +``` +rosrun controller L1_controller.py +``` + +However we suggest to use the launch files present in the `stack_master package`. diff --git a/controller/map/README_IMG/l1_dist.png b/controller/map/README_IMG/l1_dist.png new file mode 100644 index 0000000..e263e09 Binary files /dev/null and b/controller/map/README_IMG/l1_dist.png differ diff --git a/controller/map/README_IMG/speed_scaling.png b/controller/map/README_IMG/speed_scaling.png new file mode 100644 index 0000000..1f7192e Binary files /dev/null and b/controller/map/README_IMG/speed_scaling.png differ diff --git a/controller/map/src/MAP_Controller.py b/controller/map/src/MAP_Controller.py new file mode 100755 index 0000000..ec79539 --- /dev/null +++ b/controller/map/src/MAP_Controller.py @@ -0,0 +1,396 @@ +#!/usr/bin/env python3 + +import logging + +import numpy as np +from steering_lookup.lookup_steer_angle import LookupSteerAngle + + +class MAP_Controller: + """This class implements a MAP controller for autonomous driving. + Input and output topics are managed by the controller manager + """ + + def __init__(self, + t_clip_min, + t_clip_max, + m_l1, + q_l1, + speed_lookahead, + lat_err_coeff, + acc_scaler_for_steer, + dec_scaler_for_steer, + start_scale_speed, + end_scale_speed, + downscale_factor, + speed_lookahead_for_steer, + + prioritize_dyn, + trailing_gap, + trailing_p_gain, + trailing_i_gain, + trailing_d_gain, + blind_trailing_speed, + + loop_rate, + LUT_name, + state_machine_rate, + + logger_info = logging.info, + logger_warn = logging.warn + ): + # Parameters from manager + self.t_clip_min = t_clip_min + self.t_clip_max = t_clip_max + self.m_l1 = m_l1 + self.q_l1 = q_l1 + self.speed_lookahead = speed_lookahead + self.lat_err_coeff = lat_err_coeff + self.acc_scaler_for_steer = acc_scaler_for_steer + self.dec_scaler_for_steer = dec_scaler_for_steer + self.start_scale_speed = start_scale_speed + self.end_scale_speed = end_scale_speed + self.downscale_factor = downscale_factor + self.speed_lookahead_for_steer = speed_lookahead_for_steer + + self.prioritize_dyn = prioritize_dyn + self.trailing_gap = trailing_gap + self.trailing_p_gain = trailing_p_gain + self.trailing_i_gain = trailing_i_gain + self.trailing_d_gain = trailing_d_gain + self.blind_trailing_speed = blind_trailing_speed + + self.loop_rate = loop_rate + self.LUT_name = LUT_name + self.state_machine_rate = state_machine_rate + + # Parameters in the controller + self.lateral_error_list = [] # list of squared lateral error + self.curr_steering_angle = 0 + self.idx_nearest_waypoint = None # index of nearest waypoint to car + self.track_length = None + + self.gap = None + self.gap_should = None + self.gap_error = None + self.gap_actual = None + self.v_diff = None + self.i_gap = 0 + self.trailing_command = 2 + self.speed_command = None + self.curvature_waypoints = 0 + self.d_vs = np.zeros(10) + self.acceleration_command = 0 + + self.logger_info = logger_info + self.logger_warn = logger_warn + + self.steer_lookup = LookupSteerAngle(self.LUT_name, logger_info) + # main loop + def main_loop(self, state, position_in_map, waypoint_array_in_map, speed_now, opponent, position_in_map_frenet, acc_now, track_length): + # Updating parameters from manager + self.state = state + self.position_in_map = position_in_map + self.waypoint_array_in_map = waypoint_array_in_map + self.speed_now = speed_now + self.opponent = opponent + self.position_in_map_frenet = position_in_map_frenet + self.acc_now = acc_now + self.track_length = track_length + ## PREPROCESS ## + # speed vector + yaw = self.position_in_map[0, 2] + v = [np.cos(yaw)*self.speed_now, np.sin(yaw)*self.speed_now] + + # calculate lateral error and lateral error norm (lateral_error, self.lateral_error_list, self.lat_e_norm) + lat_e_norm, lateral_error = self.calc_lateral_error_norm() + + ### LONGITUDINAL CONTROL ### + self.speed_command = self.calc_speed_command(v, lat_e_norm) + + # POSTPROCESS for acceleration/speed decision + if self.speed_command is not None: + speed = np.max(self.speed_command, 0) + acceleration = 0 + jerk = 0 + else: + speed = 0 + jerk = 0 + acceleration = 0 + self.logger_warn("[Controller] speed was none") + + ### LATERAL CONTROL ### + steering_angle = None + L1_point, L1_distance = self.calc_L1_point(lateral_error) + + if L1_point.any() is not None: + steering_angle = self.calc_steering_angle(L1_point, L1_distance, yaw, lat_e_norm, v) + else: + raise Exception("L1_point is None") + + return speed, acceleration, jerk, steering_angle, L1_point, L1_distance, self.idx_nearest_waypoint + + def calc_steering_angle(self, L1_point, L1_distance, yaw, lat_e_norm, v): + """ + The purpose of this function is to calculate the steering angle based on the L1 point, desired lateral acceleration and velocity + + Inputs: + L1_point: point in frenet coordinates at L1 distance in front of the car + L1_distance: distance of the L1 point to the car + yaw: yaw angle of the car + lat_e_norm: normed lateral error + v : speed vector + + Returns: + steering_angle: calculated steering angle + + + """ + # lookahead for steer (steering delay incorporation by propagating position) + if self.state == "TRAILING" and (self.opponent is not None): + speed_la_for_lu = self.speed_now + else: + adv_ts_st = self.speed_lookahead_for_steer + la_position_steer = [self.position_in_map[0, 0] + v[0]*adv_ts_st, self.position_in_map[0, 1] + v[1]*adv_ts_st] + idx_la_steer = self.nearest_waypoint(la_position_steer, self.waypoint_array_in_map[:, :2]) + speed_la_for_lu = self.waypoint_array_in_map[idx_la_steer, 2] + speed_for_lu = self.speed_adjust_lat_err(speed_la_for_lu, lat_e_norm) + + L1_vector = np.array([L1_point[0] - self.position_in_map[0, 0], L1_point[1] - self.position_in_map[0, 1]]) + if np.linalg.norm(L1_vector) == 0: + self.logger_warn("[Controller] norm of L1 vector was 0, eta is set to 0") + eta = 0 + else: + eta = np.arcsin(np.dot([-np.sin(yaw), np.cos(yaw)], L1_vector)/np.linalg.norm(L1_vector)) + + if L1_distance == 0 or np.sin(eta) == 0: + lat_acc = 0 + self.logger_warn("[Controller] L1 * np.sin(eta), lat_acc is set to 0") + else: + lat_acc = 2*speed_for_lu**2 / L1_distance * np.sin(eta) + + steering_angle = self.steer_lookup.lookup_steer_angle(lat_acc, speed_for_lu) + + # modifying steer based on acceleration + steering_angle = self.acc_scaling(steering_angle) + # modifying steer based on speed + steering_angle = self.speed_steer_scaling(steering_angle, speed_for_lu) + + # modifying steer based on velocity + steering_angle *= np.clip(1 + (self.speed_now/10), 1, 1.25) + + # limit change of steering angle + threshold = 0.4 + if abs(steering_angle - self.curr_steering_angle) > threshold: + self.logger_info(f"[MAP Controller] steering angle clipped") + steering_angle = np.clip(steering_angle, self.curr_steering_angle - threshold, self.curr_steering_angle + threshold) + self.curr_steering_angle = steering_angle + return steering_angle + + def calc_L1_point(self, lateral_error): + """ + The purpose of this function is to calculate the L1 point and distance + + Inputs: + lateral_error: frenet d distance from car's position to nearest waypoint + Returns: + L1_point: point in frenet coordinates at L1 distance in front of the car + L1_distance: distance of the L1 point to the car + """ + + self.idx_nearest_waypoint = self.nearest_waypoint(self.position_in_map[0, :2], self.waypoint_array_in_map[:, :2]) + + # if all waypoints are equal set self.idx_nearest_waypoint to 0 + if np.isnan(self.idx_nearest_waypoint): + self.idx_nearest_waypoint = 0 + + if len(self.waypoint_array_in_map[self.idx_nearest_waypoint:]) > 2: + # calculate curvature of global optimizer waypoints + self.curvature_waypoints = np.mean(abs(self.waypoint_array_in_map[self.idx_nearest_waypoint:,5])) + + # calculate L1 guidance + L1_distance = self.q_l1 + self.speed_now *self.m_l1 + + # clip lower bound to avoid ultraswerve when far away from mincurv + lower_bound = max(self.t_clip_min, np.sqrt(2)*lateral_error) + L1_distance = np.clip(L1_distance, lower_bound, self.t_clip_max) + + L1_point = self.waypoint_at_distance_before_car(L1_distance, self.waypoint_array_in_map[:,:2], self.idx_nearest_waypoint) + return L1_point, L1_distance + + + def calc_speed_command(self, v, lat_e_norm): + """ + The purpose of this function is to isolate the speed calculation from the main control_loop + + Inputs: + v: speed vector + lat_e_norm: normed lateral error + curvature_waypoints: - + Returns: + speed_command: calculated and adjusted speed, which can be sent to mux + """ + + # lookahead for speed (speed delay incorporation by propagating position) + adv_ts_sp = self.speed_lookahead + la_position = [self.position_in_map[0, 0] + v[0]*adv_ts_sp, self.position_in_map[0, 1] + v[1]*adv_ts_sp] + idx_la_position = self.nearest_waypoint(la_position, self.waypoint_array_in_map[:, :2]) + global_speed = self.waypoint_array_in_map[idx_la_position, 2] + if(self.state == "TRAILING" and (self.opponent is not None)): #Trailing controller + speed_command = self.trailing_controller(global_speed) + else: + self.trailing_speed = global_speed + self.i_gap = 0 + speed_command = global_speed + + speed_command = self.speed_adjust_lat_err(speed_command, lat_e_norm) + + return speed_command + + def trailing_controller(self, global_speed): + """ + Adjust the speed of the ego car to trail the opponent at a fixed distance + Inputs: + speed_command: velocity of global raceline + self.opponent: frenet s position and vs velocity of opponent + self.position_in_map_frenet: frenet s position and vs veloctz of ego car + Returns: + trailing_command: reference velocity for trailing + """ + + self.gap = (self.opponent[0] - self.position_in_map_frenet[0])%self.track_length # gap to opponent + self.gap_actual = self.gap + self.gap_should = self.trailing_gap + self.gap_error = self.gap_should - self.gap_actual + self.v_diff = self.position_in_map_frenet[2] - self.opponent[2] + self.i_gap = np.clip(self.i_gap + self.gap_error/self.loop_rate, -10, 10) + + p_value = self.gap_error * self.trailing_p_gain + d_value = self.v_diff * self.trailing_d_gain + i_value = self.i_gap * self.trailing_i_gain + + + self.trailing_command = np.clip(self.opponent[2] - p_value - i_value - d_value, 0, global_speed) + if not self.opponent[4] and self.gap_actual > self.gap_should: + self.trailing_command = max(self.blind_trailing_speed, self.trailing_command) + + return self.trailing_command + + + def distance(self, point1, point2): + return np.linalg.norm(point2 - point1) + + def acc_scaling(self, steer): + """ + Steer scaling based on acceleration + increase steer when accelerating + decrease steer when decelerating + + Returns: + steer: scaled steering angle based on acceleration + """ + if np.mean(self.acc_now) >= 1: + steer *= self.acc_scaler_for_steer + elif np.mean(self.acc_now) <= -1: + steer *= self.dec_scaler_for_steer + return steer + + def speed_steer_scaling(self, steer, speed): + """ + Steer scaling based on speed + decrease steer when driving fast + + Returns: + steer: scaled steering angle based on speed + """ + speed_diff = max(0.1,self.end_scale_speed-self.start_scale_speed) # to prevent division by zero + factor = 1 - np.clip((speed - self.start_scale_speed)/(speed_diff), 0.0, 1.0) * self.downscale_factor + steer *= factor + return steer + + def calc_lateral_error_norm(self): + """ + Calculates lateral error + + Returns: + lat_e_norm: normalization of the lateral error + lateral_error: distance from car's position to nearest waypoint + """ + # DONE rename function and adapt + lateral_error = abs(self.position_in_map_frenet[1]) # frenet coordinates d + + max_lat_e = 0.5 + min_lat_e = 0. + lat_e_clip = np.clip(lateral_error, a_min=min_lat_e, a_max=max_lat_e) + lat_e_norm = 0.5 * ((lat_e_clip - min_lat_e) / (max_lat_e - min_lat_e)) + return lat_e_norm, lateral_error + + def speed_adjust_lat_err(self, global_speed, lat_e_norm): + """ + Reduce speed from the global_speed based on the lateral error + and curvature of the track. lat_e_coeff scales the speed reduction: + lat_e_coeff = 0: no account for lateral error + lat_e_coaff = 1: maximum accounting + + Returns: + global_speed: the speed we want to follow + """ + # scaling down global speed with lateral error and curvature + lat_e_coeff = self.lat_err_coeff # must be in [0, 1] + lat_e_norm *= 2 + curv = np.clip(2*(np.mean(self.curvature_waypoints)/0.8) - 2, a_min = 0, a_max = 1) # 0.8 ca. max curvature mean + + global_speed *= (1 - lat_e_coeff + lat_e_coeff*np.exp(-lat_e_norm*curv)) + return global_speed + + def speed_adjust_heading(self, speed_command): + """ + Reduce speed from the global_speed based on the heading error. + If the difference between the map heading and the actual heading + is larger than 20 degrees, the speed gets scaled down linearly up to 0.5x + + Returns: + global_speed: the speed we want to follow + """ + + heading = self.position_in_map[0,2] + map_heading = self.waypoint_array_in_map[self.idx_nearest_waypoint, 6] + if abs(heading - map_heading) > np.pi: # resolves wrapping issues + heading_error = 2*np.pi - abs(heading- map_heading) + else: + heading_error = abs(heading - map_heading) + + if heading_error < np.pi/9: # 20 degrees error is okay + return speed_command + elif heading_error < np.pi/2: + scaler = 1 - 0.5* heading_error/(np.pi/2) # scale linearly to 0.5x + else: + scaler = 0.5 + self.logger_info(f"[MAP Controller] heading error decreasing velocity by {scaler}") + return speed_command * scaler + + def nearest_waypoint(self, position, waypoints): + """ + Calculates index of nearest waypoint to the car + + Returns: + index of nearest waypoint to the car + """ + position_array = np.array([position]*len(waypoints)) + distances_to_position = np.linalg.norm(abs(position_array - waypoints), axis=1) + return np.argmin(distances_to_position) + + def waypoint_at_distance_before_car(self, distance, waypoints, idx_waypoint_behind_car): + """ + Calculates the waypoint at a certain frenet distance in front of the car + + Returns: + waypoint as numpy array at a ceratin distance in front of the car + """ + if distance is None: + distance = self.t_clip_min + d_distance = distance + waypoints_distance = 0.1 + d_index= int(d_distance/waypoints_distance + 0.5) + + return np.array(waypoints[min(len(waypoints) -1, idx_waypoint_behind_car + d_index)]) \ No newline at end of file diff --git a/controller/map/src/l1_params_server.py b/controller/map/src/l1_params_server.py new file mode 100755 index 0000000..9042b33 --- /dev/null +++ b/controller/map/src/l1_params_server.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python3 +import rospy +import rospkg +import yaml +from dynamic_reconfigure.server import Server +from controller.cfg import dyn_l1_params_tunerConfig + +def get_racecar_version(): + racecar_version = rospy.get_param('/racecar_version') # NUCX or SIM + return racecar_version + +def get_yaml_values(): + # Get corresponding yaml file path + yaml_path = rospkg.RosPack().get_path("stack_master") + # Get and return data + with open(yaml_path + "/config/" + get_racecar_version() + "/l1_params.yaml", "r") as file: + data = yaml.safe_load(file) + return data + +def callback(config, level): + rospy.loginfo("L1 Parameter Updated") + # Ensuring nice rounding by 0.05 + config.t_clip_min = round(config.t_clip_min * 200) / 200 # round to 0.005 + config.t_clip_max = round(config.t_clip_max * 200) / 200 + config.m_l1 = round(config.m_l1 * 200) / 200 + config.q_l1 = round(config.q_l1 * 200) / 200 + config.speed_lookahead = round(config.speed_lookahead * 20) / 20 + config.lat_err_coeff = round(config.lat_err_coeff * 20) / 20 + config.acc_scaler_for_steer = round(config.acc_scaler_for_steer * 20) / 20 + config.dec_scaler_for_steer = round(config.dec_scaler_for_steer * 20) / 20 + config.start_scale_speed = round(config.start_scale_speed * 20) / 20 + config.end_scale_speed = round(config.end_scale_speed * 20) / 20 + config.downscale_factor = round(config.downscale_factor * 20) / 20 + config.speed_lookahead_for_steer = round(config.speed_lookahead_for_steer * 20) / 20 + #Trailing Controller + config.prioritize_dyn = config.prioritize_dyn + config.trailing_gap = round(config.trailing_gap * 20) / 20 + config.trailing_p_gain = round(config.trailing_p_gain * 100) / 100 + config.trailing_i_gain = round(config.trailing_i_gain * 100) / 100 + config.trailing_d_gain = round(config.trailing_d_gain * 100) / 100 + config.blind_trailing_speed = round(config.blind_trailing_speed * 10) / 10 + + return config + +if __name__ == "__main__": + rospy.init_node("dyn_l1_params_tuner_server", anonymous=False) + server = Server(dyn_l1_params_tunerConfig, callback) + + yaml_data = get_yaml_values() + + # Set l1 parameter values to the values of the corresponding .yaml file + # float() is need as we want to ensure its type to access it in L1_controller with "params.doubles[idx].value" + default_config = { + ## L1 Controller Parameters + "t_clip_min": float(yaml_data["t_clip_min"]), + "t_clip_max": float(yaml_data["t_clip_max"]), + "m_l1": float(yaml_data["m_l1"]), + "q_l1": float(yaml_data["q_l1"]), + "speed_lookahead": float(yaml_data["speed_lookahead"]), + "lat_err_coeff": float(yaml_data["lat_err_coeff"]), + "acc_scaler_for_steer": float(yaml_data["acc_scaler_for_steer"]), + "dec_scaler_for_steer": float(yaml_data["dec_scaler_for_steer"]), + "start_scale_speed": float(yaml_data["start_scale_speed"]), + "end_scale_speed": float(yaml_data["end_scale_speed"]), + "downscale_factor": float(yaml_data["downscale_factor"]), + "speed_lookahead_for_steer": float(yaml_data["speed_lookahead_for_steer"]), + ## Trailing Controller Parameters + "prioritize_dyn": bool(yaml_data["prioritize_dyn"]), + "trailing_gap": float(yaml_data["trailing_gap"]), + "trailing_p_gain": float(yaml_data["trailing_p_gain"]), + "trailing_i_gain": float(yaml_data["trailing_i_gain"]), + "trailing_d_gain": float(yaml_data["trailing_d_gain"]), + "blind_trailing_speed": float(yaml_data["blind_trailing_speed"]) + } + + server.update_configuration(default_config) + rospy.spin() + + diff --git a/controller/map/src/plotter.py b/controller/map/src/plotter.py new file mode 100644 index 0000000..4c899c2 --- /dev/null +++ b/controller/map/src/plotter.py @@ -0,0 +1,27 @@ +#!/usr/bin/env python3 +import time +import csv +import rospy +import os + +class Plotter: + def __init__(self): + home_dir = os.environ["HOME"] + home_dir += '/plot_datas/plot_data_{}.csv'.format(int(time.time())) + try: + self.file = open(home_dir, 'w+') + self.writer = csv.writer(self.file, delimiter=';') + headers = ['goal_speed', 'car_speed', 'calculated_speed', 'curvature', 'trackbounds_avg', 'lateral_error', 'position_on_path', 'lookahead_distance', 'steering_angle'] + self.writer.writerow(headers) + except: + rospy.logwarn('>>>>>>>>>> DID YOU CREATE A FOLDER CALLED plot_datas IN THE HOME DIRECTORY? <<<<<<<<<<<<<<<<<<') + + def __del__(self): + self.file.close() + + def add_values(self, goal_speed, car_speed, calculated_speed, curvature, trackbounds_avg, lateral_error, position_on_path, lookahead_distance, steering_angle): + data = [goal_speed, car_speed, calculated_speed, curvature, trackbounds_avg, lateral_error, position_on_path, lookahead_distance, steering_angle] + self.writer.writerow(data) + + def flush(self): + self.file.flush() diff --git a/controller/misc/controller_arch.png b/controller/misc/controller_arch.png new file mode 100644 index 0000000..1705e8f Binary files /dev/null and b/controller/misc/controller_arch.png differ diff --git a/controller/package.xml b/controller/package.xml new file mode 100644 index 0000000..75ba402 --- /dev/null +++ b/controller/package.xml @@ -0,0 +1,72 @@ + + + controller + 0.0.0 + The f110_controller package + + + + + icra_crew + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + dynamic_reconfigure + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + + diff --git a/controller/pp/README.md b/controller/pp/README.md new file mode 100644 index 0000000..3192cd6 --- /dev/null +++ b/controller/pp/README.md @@ -0,0 +1,75 @@ +# Pure Pursuit (PP) controller +The goal of the Control module within the ForzaETH Race Stack is to enable performant, safe, and consistent lap completions by accurately tracking a trajectory provided by the local planner. +The velocity and steering commands are managed, respectively, by the longitudinal and lateral controllers. + +## Longitudinal controller +The longitudinal controller computes the desired velocity of the racecar. This velocity is either obtained directly from the velocity of the local trajectory or computed by the trailing controller if the car is trailing an opponent and therefore in the Trailing state. + +The speed from the local trajectory is propagated to compensate for the delay and scaled according to the lateral error and the curvature of the waypoints. + + +### Parameters +- ``: description [minimum, maximum, tuned] + +- `speed_lookahead`: Lookahead time in seconds to account for actuation and computation delay [0, ∞, 0.25] + +- `lat_err_coeff`: How much of the lateral error is taken into account to smoothly rejoin the trajectory. Higher values increase the dependence of the lateral error on the speed reduction. [0, 1, 1] + + +### Trailing Controller Parameters + + +- `trailing_gap`: reference gap to the to-be-trailed opponent in meters[0, ∞, 1.5] + +- `trailing_p_gain`: P-Gain of trailing controller [0, ∞, 1] + +- `trailing_i_gain`: I-Gain of trailing controller [0, ∞, 0] + +- `trailing_d_gain`: D-Gain of trailing controller [0, ∞, 0.2] + +- `blind_trailing_speed`: Minimal Trailing speed when opponent not in line-of-sight [0, ∞, 1.5] + +- `prioritize_dyn`: Ignore static obstacles, when a dynamic obstacle is present [False, True, True] + + +## Lateral controller +The Pure Pursuit controller computes the steering angle via geometric considerations. +To prevent oscillations when driving fast and to be able to track small curvatures, the L1 is scaled with delay compensated speed. For the steering angle caculations, the speed is propagated to compensate for the steering delay. +When accelerating faster then 1 m/s^2, the steering is reduced and for deacceleration higher than -1m/s^2 the steering is increased. + +### Parameters + +- `m_l1`: Proportional term for the affine mapping of the velocity to the lookahead distance +for the PP controller [0, ∞, 0.6] + +- `q_l1`: Offset term for the affine mapping of the velocity to the lookahead distance. [−∞, ∞, -0.18] + +- `t_clip_min`: clipping value for minimal L1 distance [0, ∞, 0.8] + +- `t_clip_max`: clipping value for maximal L1 distance [0, ∞, 5] + +![visualisation of L1 distance calculation](README_IMG/l1_dist.png) + +At high speeds the steering is downscaled by a factor to reduce tire slipping + +- `start_scale_speed`: start of downscaling speed range [0, ∞, 7] + +- `end_scale_speed`: end of downscaling speed range [0, ∞, 8] + +- `downscale_factor`: percent of steer downscaling [0, 100, 20] + +![visualisation of speed scaling](README_IMG/speed_scaling.png) + +- `acc_scaler_for_steer`: when accelerating stronger than 1m/s^2 the steering is increased by this factor [1, ∞, 1.2] + +- `dec_scaler_for_steer`: when accelerating stronger than -1m/s^2 the steering is reduced by this factor [0, 1, 0.9] + +- `speed_lookahead_for_steer`: Lookahead time in seconds propagate velocity, for steering lookup. Can increase laptime by cutting more corners [0, 0.2, 0] + + +## Basic Use + +The controller can be started by using the following command: +``` +roslaunch stack_master time_trials.launch ctrl_algo:=PP +``` diff --git a/controller/pp/README_IMG/l1_dist.png b/controller/pp/README_IMG/l1_dist.png new file mode 100644 index 0000000..e263e09 Binary files /dev/null and b/controller/pp/README_IMG/l1_dist.png differ diff --git a/controller/pp/README_IMG/speed_scaling.png b/controller/pp/README_IMG/speed_scaling.png new file mode 100644 index 0000000..1f7192e Binary files /dev/null and b/controller/pp/README_IMG/speed_scaling.png differ diff --git a/controller/pp/src/PP_Controller.py b/controller/pp/src/PP_Controller.py new file mode 100755 index 0000000..733a9dc --- /dev/null +++ b/controller/pp/src/PP_Controller.py @@ -0,0 +1,387 @@ +#!/usr/bin/env python3 + +import logging +import numpy as np + +class PP_Controller: + """This class implements a Pure Pursuit controller for autonomous driving. + Input and output topics are managed by the controller manager + """ + + def __init__(self, + t_clip_min, + t_clip_max, + m_l1, + q_l1, + speed_lookahead, + lat_err_coeff, + acc_scaler_for_steer, + dec_scaler_for_steer, + start_scale_speed, + end_scale_speed, + downscale_factor, + speed_lookahead_for_steer, + + prioritize_dyn, + trailing_gap, + trailing_p_gain, + trailing_i_gain, + trailing_d_gain, + blind_trailing_speed, + + loop_rate, + wheelbase, + state_machine_rate, + + logger_info = logging.info, + logger_warn = logging.warn + ): + + # Parameters from manager + self.t_clip_min = t_clip_min + self.t_clip_max = t_clip_max + self.m_l1 = m_l1 + self.q_l1 = q_l1 + self.speed_lookahead = speed_lookahead + self.lat_err_coeff = lat_err_coeff + self.acc_scaler_for_steer = acc_scaler_for_steer + self.dec_scaler_for_steer = dec_scaler_for_steer + self.start_scale_speed = start_scale_speed + self.end_scale_speed = end_scale_speed + self.downscale_factor = downscale_factor + self.speed_lookahead_for_steer = speed_lookahead_for_steer + + self.prioritize_dyn = prioritize_dyn + self.trailing_gap = trailing_gap + self.trailing_p_gain = trailing_p_gain + self.trailing_i_gain = trailing_i_gain + self.trailing_d_gain = trailing_d_gain + self.blind_trailing_speed = blind_trailing_speed + + self.loop_rate = loop_rate + self.wheelbase = wheelbase + self.state_machine_rate = state_machine_rate + + # Parameters in the controller + self.lateral_error_list = [] # list of squared lateral error + self.curr_steering_angle = 0 + self.idx_nearest_waypoint = None # index of nearest waypoint to car + self.track_length = None + + self.gap = None + self.gap_should = None + self.gap_error = None + self.gap_actual = None + self.v_diff = None + self.i_gap = 0 + self.trailing_command = 2 + self.speed_command = None + self.curvature_waypoints = 0 + self.d_vs = np.zeros(10) + self.acceleration_command = 0 + + self.logger_info = logger_info + self.logger_warn = logger_warn + + # main loop + def main_loop(self, state, position_in_map, waypoint_array_in_map, speed_now, opponent, position_in_map_frenet, acc_now, track_length): + # Updating parameters from manager + self.state = state + self.position_in_map = position_in_map + self.waypoint_array_in_map = waypoint_array_in_map + self.speed_now = speed_now + self.opponent = opponent + self.position_in_map_frenet = position_in_map_frenet + self.acc_now = acc_now + self.track_length = track_length + ## PREPROCESS ## + # speed vector + yaw = self.position_in_map[0, 2] + v = [np.cos(yaw)*self.speed_now, np.sin(yaw)*self.speed_now] + + # calculate lateral error and lateral error norm (lateral_error, self.lateral_error_list, self.lat_e_norm) + lat_e_norm, lateral_error = self.calc_lateral_error_norm() + + ### LONGITUDINAL CONTROL ### + self.speed_command = self.calc_speed_command(v, lat_e_norm) + + # POSTPROCESS for acceleration/speed decision + if self.speed_command is not None: + speed = np.max(self.speed_command, 0) + acceleration = 0 + jerk = 0 + else: + speed = 0 + jerk = 0 + acceleration = 0 + self.logger_warn("[Controller] speed was none") + + ### LATERAL CONTROL ### + steering_angle = None + L1_point, L1_distance = self.calc_L1_point(lateral_error) + + if L1_point.any() is not None: + steering_angle = self.calc_steering_angle(L1_point, L1_distance, yaw, lat_e_norm, v) + else: + raise Exception("L1_point is None") + + return speed, acceleration, jerk, steering_angle, L1_point, L1_distance, self.idx_nearest_waypoint + + def calc_steering_angle(self, L1_point, L1_distance, yaw, lat_e_norm, v): + """ + The purpose of this function is to calculate the steering angle based on the L1 point, desired lateral acceleration and velocity + + Inputs: + L1_point: point in frenet coordinates at L1 distance in front of the car + L1_distance: distance of the L1 point to the car + yaw: yaw angle of the car + lat_e_norm: normed lateral error + v : speed vector + + Returns: + steering_angle: calculated steering angle + + + """ + # lookahead for steer (steering delay incorporation by propagating position) + if self.state == "TRAILING" and (self.opponent is not None): + speed_la_for_lu = self.speed_now + else: + adv_ts_st = self.speed_lookahead_for_steer + la_position_steer = [self.position_in_map[0, 0] + v[0]*adv_ts_st, self.position_in_map[0, 1] + v[1]*adv_ts_st] + idx_la_steer = self.nearest_waypoint(la_position_steer, self.waypoint_array_in_map[:, :2]) + speed_la_for_lu = self.waypoint_array_in_map[idx_la_steer, 2] + speed_for_lu = self.speed_adjust_lat_err(speed_la_for_lu, lat_e_norm) + + L1_vector = np.array([L1_point[0] - self.position_in_map[0, 0], L1_point[1] - self.position_in_map[0, 1]]) + if np.linalg.norm(L1_vector) == 0: + self.logger_warn("[Controller] norm of L1 vector was 0, eta is set to 0") + eta = 0 + else: + eta = np.arcsin(np.dot([-np.sin(yaw), np.cos(yaw)], L1_vector)/np.linalg.norm(L1_vector)) + + steering_angle = np.arctan(2*self.wheelbase*np.sin(eta)/L1_distance) + + # modifying steer based on acceleration + steering_angle = self.acc_scaling(steering_angle) + # modifying steer based on speed + steering_angle = self.speed_steer_scaling(steering_angle, speed_for_lu) + + # modifying steer based on velocity + steering_angle *= np.clip(1 + (self.speed_now/10), 1, 1.25) + + # limit change of steering angle + threshold = 0.4 + if abs(steering_angle - self.curr_steering_angle) > threshold: + self.logger_info(f"[PP Controller] steering angle clipped") + steering_angle = np.clip(steering_angle, self.curr_steering_angle - threshold, self.curr_steering_angle + threshold) + self.curr_steering_angle = steering_angle + return steering_angle + + def calc_L1_point(self, lateral_error): + """ + The purpose of this function is to calculate the L1 point and distance + + Inputs: + lateral_error: frenet d distance from car's position to nearest waypoint + Returns: + L1_point: point in frenet coordinates at L1 distance in front of the car + L1_distance: distance of the L1 point to the car + """ + + self.idx_nearest_waypoint = self.nearest_waypoint(self.position_in_map[0, :2], self.waypoint_array_in_map[:, :2]) + + # if all waypoints are equal set self.idx_nearest_waypoint to 0 + if np.isnan(self.idx_nearest_waypoint): + self.idx_nearest_waypoint = 0 + + if len(self.waypoint_array_in_map[self.idx_nearest_waypoint:]) > 2: + # calculate curvature of global optimizer waypoints + self.curvature_waypoints = np.mean(abs(self.waypoint_array_in_map[self.idx_nearest_waypoint:,5])) + + # calculate L1 guidance + L1_distance = self.q_l1 + self.speed_now *self.m_l1 + + # clip lower bound to avoid ultraswerve when far away from mincurv + lower_bound = max(self.t_clip_min, np.sqrt(2)*lateral_error) + L1_distance = np.clip(L1_distance, lower_bound, self.t_clip_max) + + L1_point = self.waypoint_at_distance_before_car(L1_distance, self.waypoint_array_in_map[:,:2], self.idx_nearest_waypoint) + return L1_point, L1_distance + + + def calc_speed_command(self, v, lat_e_norm): + """ + The purpose of this function is to isolate the speed calculation from the main control_loop + + Inputs: + v: speed vector + lat_e_norm: normed lateral error + curvature_waypoints: - + Returns: + speed_command: calculated and adjusted speed, which can be sent to mux + """ + + # lookahead for speed (speed delay incorporation by propagating position) + adv_ts_sp = self.speed_lookahead + la_position = [self.position_in_map[0, 0] + v[0]*adv_ts_sp, self.position_in_map[0, 1] + v[1]*adv_ts_sp] + idx_la_position = self.nearest_waypoint(la_position, self.waypoint_array_in_map[:, :2]) + global_speed = self.waypoint_array_in_map[idx_la_position, 2] + if(self.state == "TRAILING" and (self.opponent is not None)): #Trailing controller + speed_command = self.trailing_controller(global_speed) + else: + self.trailing_speed = global_speed + self.i_gap = 0 + speed_command = global_speed + + speed_command = self.speed_adjust_lat_err(speed_command, lat_e_norm) + + return speed_command + + def trailing_controller(self, global_speed): + """ + Adjust the speed of the ego car to trail the opponent at a fixed distance + Inputs: + speed_command: velocity of global raceline + self.opponent: frenet s position and vs velocity of opponent + self.position_in_map_frenet: frenet s position and vs veloctz of ego car + Returns: + trailing_command: reference velocity for trailing + """ + + self.gap = (self.opponent[0] - self.position_in_map_frenet[0])%self.track_length # gap to opponent + self.gap_actual = self.gap + self.gap_should = self.trailing_gap + self.gap_error = self.gap_should - self.gap_actual + self.v_diff = self.position_in_map_frenet[2] - self.opponent[2] + self.i_gap = np.clip(self.i_gap + self.gap_error/self.loop_rate, -10, 10) + + p_value = self.gap_error * self.trailing_p_gain + d_value = self.v_diff * self.trailing_d_gain + i_value = self.i_gap * self.trailing_i_gain + + + self.trailing_command = np.clip(self.opponent[2] - p_value - i_value - d_value, 0, global_speed) + if not self.opponent[4] and self.gap_actual > self.gap_should: + self.trailing_command = max(self.blind_trailing_speed, self.trailing_command) + + return self.trailing_command + + + def distance(self, point1, point2): + return np.linalg.norm(point2 - point1) + + def acc_scaling(self, steer): + """ + Steer scaling based on acceleration + increase steer when accelerating + decrease steer when decelerating + + Returns: + steer: scaled steering angle based on acceleration + """ + if np.mean(self.acc_now) >= 1: + steer *= self.acc_scaler_for_steer + elif np.mean(self.acc_now) <= -1: + steer *= self.dec_scaler_for_steer + return steer + + def speed_steer_scaling(self, steer, speed): + """ + Steer scaling based on speed + decrease steer when driving fast + + Returns: + steer: scaled steering angle based on speed + """ + speed_diff = max(0.1,self.end_scale_speed-self.start_scale_speed) # to prevent division by zero + factor = 1 - np.clip((speed - self.start_scale_speed)/(speed_diff), 0.0, 1.0) * self.downscale_factor + steer *= factor + return steer + + def calc_lateral_error_norm(self): + """ + Calculates lateral error + + Returns: + lat_e_norm: normalization of the lateral error + lateral_error: distance from car's position to nearest waypoint + """ + # DONE rename function and adapt + lateral_error = abs(self.position_in_map_frenet[1]) # frenet coordinates d + + max_lat_e = 0.5 + min_lat_e = 0. + lat_e_clip = np.clip(lateral_error, a_min=min_lat_e, a_max=max_lat_e) + lat_e_norm = 0.5 * ((lat_e_clip - min_lat_e) / (max_lat_e - min_lat_e)) + return lat_e_norm, lateral_error + + def speed_adjust_lat_err(self, global_speed, lat_e_norm): + """ + Reduce speed from the global_speed based on the lateral error + and curvature of the track. lat_e_coeff scales the speed reduction: + lat_e_coeff = 0: no account for lateral error + lat_e_coaff = 1: maximum accounting + + Returns: + global_speed: the speed we want to follow + """ + # scaling down global speed with lateral error and curvature + lat_e_coeff = self.lat_err_coeff # must be in [0, 1] + lat_e_norm *= 2 + curv = np.clip(2*(np.mean(self.curvature_waypoints)/0.8) - 2, a_min = 0, a_max = 1) # 0.8 ca. max curvature mean + + global_speed *= (1 - lat_e_coeff + lat_e_coeff*np.exp(-lat_e_norm*curv)) + return global_speed + + def speed_adjust_heading(self, speed_command): + """ + Reduce speed from the global_speed based on the heading error. + If the difference between the map heading and the actual heading + is larger than 20 degrees, the speed gets scaled down linearly up to 0.5x + + Returns: + global_speed: the speed we want to follow + """ + + heading = self.position_in_map[0,2] + map_heading = self.waypoint_array_in_map[self.idx_nearest_waypoint, 6] + if abs(heading - map_heading) > np.pi: # resolves wrapping issues + heading_error = 2*np.pi - abs(heading- map_heading) + else: + heading_error = abs(heading - map_heading) + + if heading_error < np.pi/9: # 20 degrees error is okay + return speed_command + elif heading_error < np.pi/2: + scaler = 1 - 0.5* heading_error/(np.pi/2) # scale linearly to 0.5x + else: + scaler = 0.5 + self.logger_info(f"[MAP Controller] heading error decreasing velocity by {scaler}") + return speed_command * scaler + + def nearest_waypoint(self, position, waypoints): + """ + Calculates index of nearest waypoint to the car + + Returns: + index of nearest waypoint to the car + """ + position_array = np.array([position]*len(waypoints)) + distances_to_position = np.linalg.norm(abs(position_array - waypoints), axis=1) + return np.argmin(distances_to_position) + + def waypoint_at_distance_before_car(self, distance, waypoints, idx_waypoint_behind_car): + """ + Calculates the waypoint at a certain frenet distance in front of the car + + Returns: + waypoint as numpy array at a ceratin distance in front of the car + """ + if distance is None: + distance = self.t_clip_min + d_distance = distance + waypoints_distance = 0.1 + d_index= int(d_distance/waypoints_distance + 0.5) + + return np.array(waypoints[min(len(waypoints) -1, idx_waypoint_behind_car + d_index)]) \ No newline at end of file diff --git a/docker-compose.yaml b/docker-compose.yaml new file mode 100644 index 0000000..97dc2aa --- /dev/null +++ b/docker-compose.yaml @@ -0,0 +1,62 @@ +version: "3.8" +services: + base_arm: + build: + context: . + dockerfile: .docker_utils/Dockerfile.base_arm + image: base_arm + + sim_arm: + build: + context: . + dockerfile: .docker_utils/Dockerfile.sim_arm + args: + - USER=${USER} + - UID=${UID} # user id must be saved to an environment variable, can be done with `export UID=$(id -u)` + - GID=${GID} # group id must be saved to an environment variable, can be done with `export GID=$(id -g)` + image: race_stack_sim_arm + depends_on: + - base_arm + + jet: + build: + context: . + dockerfile: .docker_utils/Dockerfile.jet + args: + - USER=${USER} + - UID=${UID} # user id must be saved to an environment variable, can be done with `export UID=$(id -u)` + - GID=${GID} # group id must be saved to an environment variable, can be done with `export GID=$(id -g)` + image: race_stack_jet + depends_on: + - base_arm + + base_x86: + build: + context: . + dockerfile: .docker_utils/Dockerfile.base_x86 + image: base_x86 + + sim_x86: + build: + context: . + dockerfile: .docker_utils/Dockerfile.sim_x86 + args: + - USER=${USER} + - UID=${UID} # user id must be saved to an environment variable, can be done with `export UID=$(id -u)` + - GID=${GID} # group id must be saved to an environment variable, can be done with `export GID=$(id -g)` + image: race_stack_sim_x86 + # container_name: race_stack_sim_x86 + depends_on: + - base_x86 + + nuc: + build: + context: . + dockerfile: .docker_utils/Dockerfile.nuc + args: + - USER=${USER} + - UID=${UID} # user id must be saved to an environment variable, can be done with `export UID=$(id -u)` + - GID=${GID} # group id must be saved to an environment variable, can be done with `export GID=$(id -g)` + image: race_stack_nuc + depends_on: + - base_x86 diff --git a/f110_utils/README.md b/f110_utils/README.md new file mode 100644 index 0000000..133b9b0 --- /dev/null +++ b/f110_utils/README.md @@ -0,0 +1,30 @@ +# F110_Utils + +Utils repo for PBL F110. Messages, services and library functions are located inside `/libs`, rosnodes are located inside `/nodes`, and scripts are located inside `/scripts`. + +## Current structure + - `libs` + - [`f110_msgs`](./libs/f110_msgs/README.md) + - [`frenet_conversion`](./libs/frenet_conversion/README.md) + - `nodes` + - [`bayesopt4ros`](./nodes/bayesopt4ros/README.md): external submodules for bayesian optimization in ROS. + - [`car_to_car_sync`](./nodes/car_to_car_sync/README.md): contains the node and instructions to stream one car's state estimate to the other. + - [`frenet_conversion_server`](./nodes/frenet_conversion_server/README.md) + - [`frenet_odom_republisher`](./nodes/frenet_odom_republisher/README.md): contains the node and instructions to publish the position and velocity of the racecar in frenet coordinates. + - [`gb_traj_publisher`](./nodes/gb_traj_publisher/README.md): contains the node and instructions to publish the trajectory of the car. + - [`lap_analyser`](./nodes/lap_analyser/README.md): contains the node and instructions to analyse the lap times and the performance of the car. + - [`map_editor`](./nodes/map_editor/README.md): contains the node and instructions to map when an map defined by physical boundaries is not availble. + - [`obstacle_publisher`](./nodes/obstacle_publisher/README.md): contains the node and instructions to publish fictitious obstacles in the simulator. + - [`overtaking_sector_tuner`](./nodes/overtaking_sector_tuner/README.md): describes the overtaking sector slicer and server, used to define the overtaking sectors and the corresponding scaling factors. + - [`param_optimizer`](./nodes/param_optimizer/README.md): contains the node and instructions to use bayesian optimization (with the `bayesopt4ros` package) to get optimal MAP parameters and/or sector scalers. + - [`random_obstacle_publisher`](./nodes/random_obstacle_publisher/README.md) + - [`sector_tuner`](./nodes/sector_tuner/README.md): contains the node and instructions to slice the racing line in sectors and then publishes the sectors and the corresponding scaled trajectories and scaling parameters once the system is running. + - [`set_pose`](./nodes/set_pose/README.md): contains the node and instructions to set the pose of the car in the simulator. + - [`slam_tuner`](./nodes/slam_tuner/README.md): contains a node and instructions to tune the localization algorithms. + - [`tf_transformer`](./nodes/tf_transformer/README.md) + - [`transform_broadcaster`](./nodes/transform_broadcaster/README.md) + - `scripts` + - [`pit_starter`](./scripts/pit_starter/README.md): contains the script and instructions to source the NUCX and runs the rviz with the correct config. + +--- +[Go back to the main README](../README.md) diff --git a/f110_utils/libs/f110_msgs/CMakeLists.txt b/f110_utils/libs/f110_msgs/CMakeLists.txt new file mode 100644 index 0000000..2bc6932 --- /dev/null +++ b/f110_utils/libs/f110_msgs/CMakeLists.txt @@ -0,0 +1,89 @@ +cmake_minimum_required(VERSION 3.0.2) +project(f110_msgs) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + std_msgs + message_generation +) + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder + add_message_files( + FILES + CarState.msg + CarStateStamped.msg + LapData.msg + Wpnt.msg + WpntArray.msg + Obstacle.msg + ObstacleArray.msg + OTWpntArray.msg + GapData.msg + PidData.msg + OpponentTrajectory.msg + OppWpnt.msg + ProjOppPoint.msg + ProjOppTraj.msg + ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + std_msgs + geometry_msgs + ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need + +catkin_package( + CATKIN_DEPENDS message_runtime std_msgs geometry_msgs +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/f110_utils/libs/f110_msgs/README.md b/f110_utils/libs/f110_msgs/README.md new file mode 100644 index 0000000..c69dc11 --- /dev/null +++ b/f110_utils/libs/f110_msgs/README.md @@ -0,0 +1,8 @@ +# F110 Msgs + +Contains customs messages used by the F110 group at PBL. + +Message structure can be found in the every `.msg` file. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/CarState.msg b/f110_utils/libs/f110_msgs/msg/CarState.msg new file mode 100644 index 0000000..febb056 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/CarState.msg @@ -0,0 +1,2 @@ +geometry_msgs/Pose slam_pose +geometry_msgs/Twist ekf_twist diff --git a/f110_utils/libs/f110_msgs/msg/CarStateStamped.msg b/f110_utils/libs/f110_msgs/msg/CarStateStamped.msg new file mode 100644 index 0000000..6645b12 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/CarStateStamped.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +CarState state diff --git a/f110_utils/libs/f110_msgs/msg/GapData.msg b/f110_utils/libs/f110_msgs/msg/GapData.msg new file mode 100644 index 0000000..f7f865d --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/GapData.msg @@ -0,0 +1,5 @@ +std_msgs/Header header + +float64 gap_diff +float64 vs_diff +float64 gap_int \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/LapData.msg b/f110_utils/libs/f110_msgs/msg/LapData.msg new file mode 100644 index 0000000..1edd824 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/LapData.msg @@ -0,0 +1,6 @@ +std_msgs/Header header + +int32 lap_count +float64 lap_time +float64 average_lateral_error_to_global_waypoints +float64 max_lateral_error_to_global_waypoints \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/OTWpntArray.msg b/f110_utils/libs/f110_msgs/msg/OTWpntArray.msg new file mode 100644 index 0000000..5fb53bb --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/OTWpntArray.msg @@ -0,0 +1,7 @@ +std_msgs/Header header +time last_switch_time +bool side_switch +string ot_side +string ot_line +Wpnt[] wpnts + diff --git a/f110_utils/libs/f110_msgs/msg/Obstacle.msg b/f110_utils/libs/f110_msgs/msg/Obstacle.msg new file mode 100644 index 0000000..3c64712 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/Obstacle.msg @@ -0,0 +1,18 @@ +int32 id + +float64 s_start +float64 s_end +float64 d_right # defined as right bound of the obstacle +float64 d_left # defined as left bound of the obstacle +bool is_actually_a_gap # used by the frenet planner to choos points through which we want to go +float64 s_center +float64 d_center +float64 size +float64 vs +float64 vd +float64 s_var +float64 d_var +float64 vs_var +float64 vd_var +bool is_static +bool is_visible \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/ObstacleArray.msg b/f110_utils/libs/f110_msgs/msg/ObstacleArray.msg new file mode 100644 index 0000000..8f9bd1f --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/ObstacleArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +Obstacle[] obstacles \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/OppWpnt.msg b/f110_utils/libs/f110_msgs/msg/OppWpnt.msg new file mode 100644 index 0000000..306090d --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/OppWpnt.msg @@ -0,0 +1,18 @@ +int32 id + +# frenet coordinates +float64 s_m +float64 d_m + +# map coordinates +float64 x_m +float64 y_m + +# track information +float64 proj_vs_mps +float64 vd_mps + +#variance +float64 d_var +float64 vs_var + diff --git a/f110_utils/libs/f110_msgs/msg/OpponentTrajectory.msg b/f110_utils/libs/f110_msgs/msg/OpponentTrajectory.msg new file mode 100644 index 0000000..2180a96 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/OpponentTrajectory.msg @@ -0,0 +1,4 @@ +std_msgs/Header header +float64 lap_count +bool opp_is_on_trajectory +OppWpnt[] oppwpnts \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/PidData.msg b/f110_utils/libs/f110_msgs/msg/PidData.msg new file mode 100644 index 0000000..19ce79c --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/PidData.msg @@ -0,0 +1,8 @@ +std_msgs/Header header + +float64 should +float64 actual +float64 error +float64 d_value +float64 i_value +float64 input \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/ProjOppPoint.msg b/f110_utils/libs/f110_msgs/msg/ProjOppPoint.msg new file mode 100644 index 0000000..5a357f2 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/ProjOppPoint.msg @@ -0,0 +1,13 @@ +#Velocities are projected onto ego race line + +float64 s +float64 d +float64 vs +float64 vd +bool is_static +bool is_visible +float64 time +float64 s_var +float64 d_var +float64 vs_var +float64 vd_var \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/ProjOppTraj.msg b/f110_utils/libs/f110_msgs/msg/ProjOppTraj.msg new file mode 100644 index 0000000..e01aa0d --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/ProjOppTraj.msg @@ -0,0 +1,4 @@ +float64 lapcount +float64 nrofpoints +bool opp_is_on_trajectory +ProjOppPoint[] detections \ No newline at end of file diff --git a/f110_utils/libs/f110_msgs/msg/Wpnt.msg b/f110_utils/libs/f110_msgs/msg/Wpnt.msg new file mode 100644 index 0000000..ec7a8e7 --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/Wpnt.msg @@ -0,0 +1,20 @@ +int32 id + +# frenet coordinates +float64 s_m +float64 d_m + +# map coordinates +float64 x_m +float64 y_m + +# track bound distance +float64 d_right +float64 d_left + +# track information +float64 psi_rad +float64 kappa_radpm +float64 vx_mps +float64 ax_mps2 + diff --git a/f110_utils/libs/f110_msgs/msg/WpntArray.msg b/f110_utils/libs/f110_msgs/msg/WpntArray.msg new file mode 100644 index 0000000..6af21df --- /dev/null +++ b/f110_utils/libs/f110_msgs/msg/WpntArray.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +Wpnt[] wpnts + diff --git a/f110_utils/libs/f110_msgs/package.xml b/f110_utils/libs/f110_msgs/package.xml new file mode 100644 index 0000000..55d1d63 --- /dev/null +++ b/f110_utils/libs/f110_msgs/package.xml @@ -0,0 +1,64 @@ + + + f110_msgs + 0.0.0 + The f110_msgs package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + message_generation + message_runtime + geometry_msgs + std_msgs + + + + + + + + + diff --git a/f110_utils/libs/frenet_conversion/CMakeLists.txt b/f110_utils/libs/frenet_conversion/CMakeLists.txt new file mode 100644 index 0000000..e0dd1e0 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 3.10) +project(frenet_conversion) + +find_package(catkin REQUIRED COMPONENTS + roscpp + f110_msgs + std_msgs + message_generation +) + +add_service_files( + FILES + Frenet2Glob.srv + Frenet2GlobArr.srv + Glob2Frenet.srv + Glob2FrenetArr.srv +) + +catkin_python_setup() + +generate_messages() + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS roscpp f110_msgs + LIBRARIES ${PROJECT_NAME} +) + +include_directories(include + ${catkin_INCLUDE_DIRS}) + +add_library(${PROJECT_NAME} src/frenet_conversion.cc) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES}) + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + + +catkin_install_python(PROGRAMS + src/frenet_converter/frenet_converter.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) \ No newline at end of file diff --git a/f110_utils/libs/frenet_conversion/README.md b/f110_utils/libs/frenet_conversion/README.md new file mode 100644 index 0000000..d273d55 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/README.md @@ -0,0 +1,15 @@ +# Frenet Conversion Library + +It constitutes a C library to compute the frenet conversion. +It furthermore contains the definition of the frenet conversion service, which is instead at `/f110_utils/nodes/frenet_conversion_server`. + +## Basic usage + +### C++ +An example of the usage of the frenet conversion library can be seen in the Frenet Odometry Republisher. It basically imports the library in the header file (`/f110_utils/nodes/frenet_odom_republisher/include/frenet_odom_republisher_node.h`, line 11) then it instantiates the converter object in line 32. + +### Python +TODO: We should write a wrapper/version of the converter in python + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/libs/frenet_conversion/__init__.py b/f110_utils/libs/frenet_conversion/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/libs/frenet_conversion/helpers/frenet_debugerino.ipynb b/f110_utils/libs/frenet_conversion/helpers/frenet_debugerino.ipynb new file mode 100644 index 0000000..831ae28 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/helpers/frenet_debugerino.ipynb @@ -0,0 +1,175 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import bagpy\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import rosbag" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "from frenet_converter import frenet_converter" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "bag_name = \"/home/gnone/rosbags/frenet_bug.bag\"\n", + "\n", + "boundaries_topic_name = \"/trackbounds/markers\"\n", + "laserscan_topic_name = \"/scan\"\n", + "carstate_pose_topic_name = \"/car_state/pose\"\n", + "opponent_topic = \"/perception/obstacles\"\n", + "raceline_topic = \"/global_waypoints\"\n", + "map_topic_name = \"/map\"\n", + "\n", + "bag = bagpy.bagreader(bag_name)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# proper IEEE sizes \n", + "\n", + "# 1 column\n", + "COLWIDTH = 3.5 # in inches\n", + "FONTSIZE = 8 # in pt" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "bag_obj = rosbag.Bag(bag_name)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "#get the raceline\n", + "raceline = None\n", + "for topic, msg, t in bag_obj.read_messages(topics=[raceline_topic]):\n", + " raceline = msg.wpnts\n", + " break\n", + "\n", + "raceline_x = np.array([p.x_m for p in raceline])\n", + "raceline_y = np.array([p.y_m for p in raceline])\n", + "\n", + "#Frenet converter\n", + "fc = frenet_converter.FrenetConverter(raceline_x, raceline_y)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "x = 10.281317029280368\n", + "y = 18.758460617419132\n", + "\n", + "x1 = 8.550580978393555\n", + "y1 = 14.897018432617188\n", + "\n", + "x2 = 8.650595664978027\n", + "y2 = 15.354464530944824\n", + "\n", + "resp = fc.get_frenet([x, x1, x2], [y, y1, y2])\n", + "print(resp)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# print(resp[0], resp[1])\n", + "cart = fc.get_cartesian(resp[0], resp[1])\n", + "print([f\"Reprojection error: {num:.3f} [m]\" for num in (np.linalg.norm(cart, axis=0) - np.linalg.norm([[x, x1, x2], [y, y1, y2]], axis=0))])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "spline_x, spline_y = fc.get_splines()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "space = np.linspace(20, 21, 2000)\n", + "# set aspect equal \n", + "fig, ax = plt.subplots(figsize=(COLWIDTH, COLWIDTH))\n", + "ax.set_aspect('equal')\n", + "ax.plot(spline_x(space), spline_y(space))\n", + "\n", + "ax.plot(x,y,'x')\n", + "# print tangent \n", + "for i in np.linspace(20.6, 20.59, 3):\n", + " tangent = [spline_x(i, 1), spline_y(i, 1)]\n", + " # tangent = [-tangent[1], tangent[0]]\n", + " # normalize \n", + " tangent = tangent / np.linalg.norm(tangent, axis=0)\n", + " # print(tangent)\n", + " second_guy = np.array([x-spline_x(i), y-spline_y(i)])\n", + " # print(second_guy)\n", + " proj = np.clip(np.dot(tangent, second_guy), -1.66666667e-02, 1.66666667e-02)\n", + " print(proj)\n", + " print(np.einsum('ij,ij->i', [tangent], [second_guy])-proj)\n", + "\n", + "ax.plot(spline_x([20.5, 20.6]), spline_y([20.5, 20.6]), 'o')\n", + "ax.plot([spline_x(20.6), spline_x(20.6) + tangent[0]], [spline_y(20.6), spline_y(20.6) + tangent[1]], 'r')" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "f1tenth", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.13" + }, + "orig_nbformat": 4 + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/f110_utils/libs/frenet_conversion/include/frenet_conversion.h b/f110_utils/libs/frenet_conversion/include/frenet_conversion.h new file mode 100644 index 0000000..4d4c6b4 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/include/frenet_conversion.h @@ -0,0 +1,147 @@ +#ifndef FRENET_CONVERSION_H_ +#define FRENET_CONVERSION_H_ + +#include +#include +#include +#include + +namespace frenet_conversion{ + +class FrenetConverter { + public: + FrenetConverter(); + ~FrenetConverter(); + + /** + * @brief Initializes the frenet converter with the global trajectory + * + * @param wptns pointer to vector containing the waypoints describing the + * global trajectory, the last and first waypoints should overlap if the + * trajectory is wrapping around + * + */ + void SetGlobalTrajectory(const std::vector *wptns, + const bool is_closed_contour); + + /** + * @brief Returns the frenet point corresponding to the given position + * + * @param x input x position + * @param y input y position + * @param s returns the frenet s coordinate + * @param d returns the frenet d coordinate + * @param idx returns the index of the closest waypoint + * + */ + void GetFrenetPoint(const double x, const double y, double* s, double* d, + int* idx, bool full_search); + + /** + * @brief Returns the global point corresponding to the frenet position + * + * @param s input frenet s coordinate + * @param d input frenet d coordinate + * @param x output x position + * @param y output y position + * + */ + void GetGlobalPoint(const double s, const double d, double* x, double* y); + + /** + * @brief Get the Closest Index on the global trajectory to the given position + * + * @param x input + * @param y input + * @param idx returns the index of the closest waypoint + */ + void GetClosestIndex(const double x, const double y, int* idx); + + /** + * @brief Get the Closest Index on the global trajectory to track advancement + * + * @param s input track advancement + * @param idx returns the index of the closest waypoint + */ + void GetClosestIndex(const double s, int* idx); + + /** + * @brief Returns the frenet point and locally projected velocity + * corresponding to the given position and velocity + * + * @param x input x position + * @param y input y position + * @param theta car heading angle + * @param v_x input x velocity, in body frame + * @param v_y input y velocity, in body frame + * @param s returns the frenet s coordinate + * @param d returns the frenet d coordinate + * @param v_s returns the frenet s velocity + * @param v_d returns the frenet d velocity + * @param idx returns the index of the closest waypoint + */ + void GetFrenetOdometry(const double x, const double y, const double theta, + const double v_x, const double v_y, double* s, + double* d, double* v_s, double* v_d, int* idx); + + private: + /** + * @brief Calculates the frenet coordinates of the given position + * + * @param x input x position + * @param y input y position + * @param s returns the frenet s coordinate + * @param d returns the frenet d coordinate + */ + void CalcFrenetPoint(const double x, const double y, double* s, double* d); + + /** + * @brief Calculates the global position based on the frenet position + * + * @param s input track advancement + * @param d input track offset + * @param x output x position + * @param y output y position + */ + void CalcGlobalPoint(const double s, const double d, double* x, double* y); + + /** + * @brief Projects the velocities into local frenet frame + * + * @param v_x input x velocity, in body frame + * @param v_y input y velocity, in body frame + * @param theta car heading angle + * @param v_s returns the frenet s velocity + * @param v_d returns the frenet d velocity + */ + void CalcFrenetVelocity(const double v_x, const double v_y, const double theta, + double* v_s, double* v_d); + + /** + * @brief Updates the closest index of waypoint array to the given position + * + * @param x input x position + * @param y input y position + */ + void UpdateClosestIndex(const double x, const double y, int* idx, bool full_search); + + /** + * @brief Updates the closest index of waypoint array to the given + * track advancement + * + * @param s + */ + void UpdateClosestIndex(const double s); + + int closest_idx_; + std::vector wpt_array_; + bool has_global_trajectory_{false}; + double global_trajectory_length_; + bool is_closed_contour_; + std::mutex mutexGlobalTrajectory_; + +}; + +}// end namespace frenet_conversion + +#endif /* FRENET_CONVERSION_H_ */ \ No newline at end of file diff --git a/f110_utils/libs/frenet_conversion/package.xml b/f110_utils/libs/frenet_conversion/package.xml new file mode 100644 index 0000000..8f69232 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/package.xml @@ -0,0 +1,21 @@ + + + frenet_conversion + 0.0.0 + + + Transformation to and from frenet frame to global frame + + + Jonathan Becker + Apache License 2.0 + + catkin + + roscpp + f110_msgs + message_generation + message_runtime + + + diff --git a/f110_utils/libs/frenet_conversion/setup.py b/f110_utils/libs/frenet_conversion/setup.py new file mode 100644 index 0000000..1ec3342 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/setup.py @@ -0,0 +1,11 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from setuptools import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['frenet_converter'], + package_dir={'': 'src'}) + +setup(**setup_args) diff --git a/f110_utils/libs/frenet_conversion/src/__init__.py b/f110_utils/libs/frenet_conversion/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/libs/frenet_conversion/src/frenet_conversion.cc b/f110_utils/libs/frenet_conversion/src/frenet_conversion.cc new file mode 100644 index 0000000..bbf8a64 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/src/frenet_conversion.cc @@ -0,0 +1,206 @@ +#include "frenet_conversion.h" +#include +#include + +namespace frenet_conversion{ + + FrenetConverter::FrenetConverter() {} + + FrenetConverter::~FrenetConverter() {} + + /*** -------------- PUBLIC ----------------- ***/ + + void FrenetConverter::SetGlobalTrajectory( + const std::vector *wptns, + const bool is_closed_contour) { + // deep copy wptns + wpt_array_ = *wptns; + global_trajectory_length_ = wpt_array_.back().s_m; + is_closed_contour_ = is_closed_contour; + // remove the first element -> no negative s + if (is_closed_contour_) { + wpt_array_.erase(wpt_array_.begin()); + } + has_global_trajectory_ = true; + } + + void FrenetConverter::GetFrenetPoint(const double x, const double y, + double* s, double* d, int* idx, bool full_search) { + + if (!has_global_trajectory_) { + ROS_ERROR("[FrenetConverter] No global trajectory set!"); + return; + } + + UpdateClosestIndex(x, y, idx, full_search); + + + // calculate frenet point + CalcFrenetPoint(x, y, s, d); + } + + void FrenetConverter::GetFrenetOdometry(const double x, const double y, + const double theta, const double v_x, + const double v_y, double* s, + double* d, double* v_s, double* v_d, + int* idx) { + + if (!has_global_trajectory_) { + ROS_ERROR("[FrenetConverter] No global trajectory set!"); + return; + } + std::unique_lock lock(mutexGlobalTrajectory_); + + UpdateClosestIndex(x, y, idx, false); + + CalcFrenetPoint(x, y, s, d); + + CalcFrenetVelocity(v_x, v_y, theta, v_s, v_d); + lock.unlock(); + } + + void FrenetConverter::GetGlobalPoint(const double s, const double d, + double* x, double* y) { + + if (!has_global_trajectory_) { + ROS_ERROR("[FrenetConverter] No global trajectory set!"); + return; + } + std::unique_lock lock(mutexGlobalTrajectory_); + + UpdateClosestIndex(s); + + // calculate frenet point + CalcGlobalPoint(s, d, x, y); + lock.unlock(); + } + + void FrenetConverter::GetClosestIndex(const double s, int* idx) { + if (!has_global_trajectory_) { + ROS_ERROR("[FrenetConverter] No global trajectory set!"); + return; + } + UpdateClosestIndex(s); + *idx = (closest_idx_ + 1); // account for removing the first element + } + + void FrenetConverter::GetClosestIndex(const double x, const double y, + int* idx) { + if (!has_global_trajectory_) { + ROS_ERROR("[FrenetConverter] No global trajectory set!"); + return; + } + UpdateClosestIndex(x, y, idx, false); + } + + /*** -------------- PRIVATE ----------------- ***/ + + void FrenetConverter::CalcFrenetPoint(const double x, const double y, + double* s, double* d) { + // project current position onto trajectory: + // s = s_wp + cos(phi)*dx + sin(phi)*dy + double d_x = x - wpt_array_.at(closest_idx_).x_m; + double d_y = y - wpt_array_.at(closest_idx_).y_m; + + *s = d_x * std::cos(wpt_array_.at(closest_idx_).psi_rad) + + d_y * std::sin(wpt_array_.at(closest_idx_).psi_rad) + + wpt_array_.at(closest_idx_).s_m; + if (is_closed_contour_) { + // limit to length of global trajectory + *s = std::fmod(*s, global_trajectory_length_); + } + *d = - d_x * std::sin(wpt_array_.at(closest_idx_).psi_rad) + + d_y * std::cos(wpt_array_.at(closest_idx_).psi_rad); + } + + void FrenetConverter::CalcGlobalPoint(const double s, const double d, + double* x, double* y) { + double d_s = s - wpt_array_.at(closest_idx_).s_m; + *x = wpt_array_.at(closest_idx_).x_m + + d_s * std::cos(wpt_array_.at(closest_idx_).psi_rad) + - d * std::sin(wpt_array_.at(closest_idx_).psi_rad); + *y = wpt_array_.at(closest_idx_).y_m + + d * std::cos(wpt_array_.at(closest_idx_).psi_rad) + + d_s * std::sin(wpt_array_.at(closest_idx_).psi_rad); + } + + void FrenetConverter::CalcFrenetVelocity(const double v_x, const double v_y, + const double theta, double* v_s, + double* v_d) { + double delta_psi = theta - wpt_array_.at(closest_idx_).psi_rad; + *v_s = v_x * std::cos(delta_psi) - v_y * std::sin(delta_psi); + *v_d = v_x * std::sin(delta_psi) + v_y * std::cos(delta_psi); + } + + // TODO speed up by using intelligent search (binary search) + void FrenetConverter::UpdateClosestIndex(const double x, const double y, + int* idx, bool full_search) { + // get the closest waypoint + double min_dist = INFINITY; + int search_ahead_radius = 20; // TODO don't hardcode this + int start = (wpt_array_.size() + *idx - 1) % wpt_array_.size(); + int end_idx = (start + search_ahead_radius) % wpt_array_.size(); + + // -- proximity search: -- + if (!full_search) { + if (end_idx < start) { + // search end of array + for (int i = start; i < wpt_array_.size(); i++) { + double d_squared = std::pow(x - wpt_array_[i].x_m, 2) + + std::pow(y - wpt_array_[i].y_m, 2); + if (d_squared < min_dist) { + min_dist = d_squared; + closest_idx_ = i; + } + } + for (int i = 0; i < end_idx; i++) { + double d_squared = std::pow(x - wpt_array_[i].x_m, 2) + + std::pow(y - wpt_array_[i].y_m, 2); + if (d_squared < min_dist) { + min_dist = d_squared; + closest_idx_ = i; + } + } + } else { + for (int i = start; i < end_idx; i++) { + double d_squared = std::pow(x - wpt_array_[i].x_m, 2) + + std::pow(y - wpt_array_[i].y_m, 2); + if (d_squared < min_dist) { + min_dist = d_squared; + closest_idx_ = i; + } + } + } + } + // if we didn't find anything good in proximity, search the whole array + if (min_dist > 4 || full_search) { // TODO don't hardcode this + //ROS_WARN_STREAM("[Converter] Searching Entire Array"); + for (int i = 0; i < wpt_array_.size(); i++) { + double d_squared = std::pow(x - wpt_array_[i].x_m, 2) + + std::pow(y - wpt_array_[i].y_m, 2); + if (d_squared < min_dist) { + min_dist = d_squared; + closest_idx_ = i; + } + } + } + *idx = (closest_idx_ + 1); // account for removing the first element + } + + void FrenetConverter::UpdateClosestIndex(const double s) { + closest_idx_ = wpt_array_.size() - 1; // lazy don't handle wrapping + for (int i = 1; i < wpt_array_.size(); i++) { + // find first waypoint with s > s + if (wpt_array_[i].s_m > s) { + if (wpt_array_[i].s_m - s > s - wpt_array_[i-1].s_m) { + closest_idx_ = i - 1; + break; + } else { + closest_idx_ = i; + break; + } + } + } + } + +} // end of namespace frenet_conversion diff --git a/f110_utils/libs/frenet_conversion/src/frenet_converter/__init__.py b/f110_utils/libs/frenet_conversion/src/frenet_converter/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/libs/frenet_conversion/src/frenet_converter/frenet_converter.py b/f110_utils/libs/frenet_conversion/src/frenet_converter/frenet_converter.py new file mode 100644 index 0000000..28be783 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/src/frenet_converter/frenet_converter.py @@ -0,0 +1,148 @@ +from typing import Union +import numpy as np +from scipy.interpolate import CubicSpline + +class FrenetConverter: + def __init__(self, waypoints_x: np.array, waypoints_y: np.array): + self.waypoints_x = waypoints_x + self.waypoints_y = waypoints_y + self.waypoints_s = None + self.spline_x = None + self.spline_y = None + self.raceline_length = None + self.waypoints_distance_m = 0.1 # [m] + self.iter_max = 3 + + self.build_raceline() + + def build_raceline(self): + self.waypoints_s = [0.0] + prev_wpnt_x = self.waypoints_x[0] + prev_wpnt_y = self.waypoints_y[0] + for wpnt_x, wpnt_y in zip(self.waypoints_x[1:], self.waypoints_y[1:]): + dist = np.linalg.norm([wpnt_x - prev_wpnt_x, wpnt_y - prev_wpnt_y]) + prev_wpnt_x = wpnt_x + prev_wpnt_y = wpnt_y + self.waypoints_s.append(self.waypoints_s[-1] + dist) + self.spline_x = CubicSpline(self.waypoints_s, self.waypoints_x) + self.spline_y = CubicSpline(self.waypoints_s, self.waypoints_y) + self.raceline_length = self.waypoints_s[-1] + + def get_frenet(self, x, y, s=None) -> np.array: + # Compute Frenet coordinates for a given (x, y) point + if s is None: + s = self.get_approx_s(x, y) + s, d = self.get_frenet_coord(x, y, s) + else: + s, d = self.get_frenet_coord(x, y, s) + + return np.array([s, d]) + + def get_approx_s(self, x, y) -> float: + """ + Finds the s-coordinate of the given point by finding the nearest waypoint. + """ + # get distance with broadcasting multiple arrays + lenx = len(x) + dist_x = x - np.tile(self.waypoints_x, (lenx, 1)).T + dist_y = y - np.tile(self.waypoints_y, (lenx, 1)).T + return np.argmin(np.linalg.norm([dist_x.T, dist_y.T], axis=0), axis=1)*self.waypoints_distance_m + + def get_frenet_coord(self, x, y, s, eps_m=0.01) -> float: + """ + Finds the s-coordinate of the given point, considering the perpendicular + projection of the point on the track. + + Args: + x (float): x-coordinate of the point + y (float): y-coordinate of the point + s (float): estimated s-coordinate of the point + eps_m (float): maximum error tolerance for the projection. Default is 0.01. + + Returns: + The s-coordinate of the point on the track. + """ + # Check if point is on the estimated s perpendicular to the track + + _, projection, d = self.check_perpendicular(x, y, s, eps_m) + for i in range(self.iter_max): + cand_s = (s + projection)%self.raceline_length + _, cand_projection, cand_d = self.check_perpendicular(x, y, cand_s, eps_m) + #print(f"candidate projection: {cand_projection}; projection: {projection}; d: {d} cand_d: {cand_d}") + cand_projection = np.clip(cand_projection, -self.waypoints_distance_m/(2*self.iter_max), self.waypoints_distance_m/(2*self.iter_max)) + updated_idxs = np.abs(cand_projection) <= np.abs(projection) + d[updated_idxs] = cand_d[updated_idxs] + s[updated_idxs] = cand_s[updated_idxs] + projection[updated_idxs] = cand_projection[updated_idxs] + + return s, d + + def check_perpendicular(self, x, y, s, eps_m=0.01) -> Union[bool, float]: + # obtain unit vector parallel to the track + dx_ds, dy_ds = self.get_derivative(s) + tangent = np.array([dx_ds, dy_ds]) + if np.any(np.isnan(s)): + raise ValueError("BUB FRENET CONVERTER: S is nan") + tangent /= np.linalg.norm(tangent, axis=0) + + # obtain vector from the track to the point + x_vec = x - self.spline_x(s) + y_vec = y - self.spline_y(s) + point_to_track = np.array([x_vec, y_vec]) + + # check if the vectors are perpendicular + # computes the projection of point_to_track on tangent + proj = np.einsum('ij,ij->j', tangent, point_to_track) + perps = np.array([-tangent[1, :], tangent[0, :]]) + d = np.einsum('ij,ij->j', perps, point_to_track) + + # TODO commented out because of computational efficiency + # eps_m * point_to_track_norm is needed to make it scale invariant + # check_perpendicular becomes effectively cos(angle) <= eps_m + + # point_to_track_norm = np.linalg.norm(point_to_track, axis=0) + # check_perpendicular = np.abs(proj) <= eps_m * point_to_track_norm + check_perpendicular = None + + return check_perpendicular, proj, d + + def get_derivative(self, s) -> np.array: + """ + Returns the derivative of the point corresponding to s on the chosen line. + + Args: + s: parameter which is used to evaluate the spline + line: argument used to choose the line. Can be 'int', 'mid', 'out'. Default is 'mid'. + + Returns: + der: dx/ds, dy/ds + """ + s = s%self.raceline_length + + der = [self.spline_x(s, 1), self.spline_y(s, 1)] + + return der + + + def get_cartesian(self, s: float, d: float) -> np.array: + """ + Convert Frenet coordinates to Cartesian coordinates + + Args: + s (float): longitudinal coordinate + d (float): lateral coordinate + + Returns: + np.array: [x, y] Cartesian coordinates + """ + x = self.spline_x(s) + y = self.spline_y(s) + psi = self.get_derivative(s) + psi = np.arctan2(psi[1], psi[0]) + x += d * np.cos(psi + np.pi / 2) + y += d * np.sin(psi + np.pi / 2) + + return np.array([x, y]) + + + diff --git a/f110_utils/libs/frenet_conversion/src/tester.py b/f110_utils/libs/frenet_conversion/src/tester.py new file mode 100755 index 0000000..3531865 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/src/tester.py @@ -0,0 +1,153 @@ +#!/usr/bin/env python3 + +import matplotlib.pyplot as plt +import numpy as np +import pandas as pd +import rospy +from f110_msgs.msg import Wpnt, WpntArray +from frenet_converter.frenet_converter import FrenetConverter +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Odometry + + +class FrenetTester: + def __init__(self) -> None: + """ + A class to test the `frenet_converter` python library + + """ + rospy.init_node("frenet_tester", anonymous=True) + rospy.on_shutdown(self.on_shutdown) + + self.waypoints = None + self.init = False + self.s_new = None + self.d_new = None + self.s_old = None + self.d_old = None + + # Subscriptions + rospy.Subscriber("/global_waypoints", WpntArray, self.global_waypoints_cb) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.car_frenet_cb) + rospy.Subscriber("/car_state/pose", PoseStamped, self.car_pose_cb) + + # Publishers + self.car_frenet = rospy.Publisher("/car_frenet", Wpnt, queue_size=1) + + # Initialize node + self.init = self.initialize_converter() + rospy.loginfo("[Frenet tester] initialized") + + def global_waypoints_cb(self, msg: WpntArray) -> None: + """ + Callback for the global waypoints topic + + Args: + msg (WpntArray): the global waypoints + + """ + + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in msg.wpnts]) + + def car_pose_cb(self, msg: PoseStamped) -> None: + """ + Callback for the car pose topic + + Args: + msg (PoseStamped): the car pose + + """ + + if self.waypoints is not None and self.init: + self.cart_x = msg.pose.position.x + self.cart_y = msg.pose.position.y + # Get the Frenet coordinates of the car + car_frenet = self.converter.get_frenet(np.array([msg.pose.position.x]), np.array([msg.pose.position.y])) + car_frenet_msg = Wpnt() + car_frenet_msg.x_m = car_frenet[0] + car_frenet_msg.y_m = car_frenet[1] + self.s_new = car_frenet[0] + self.d_new = car_frenet[1] + self.car_frenet.publish(car_frenet_msg) + + def car_frenet_cb(self, msg: Odometry) -> None: + """ + Get current Frenet estimate + """ + self.s_old = msg.pose.pose.position.x + self.d_old = msg.pose.pose.position.y + + def initialize_converter(self) -> bool: + """ + Initialize the FrenetConverter object""" + rospy.wait_for_message("/global_waypoints", WpntArray) + + # Initialize the FrenetConverter object + self.converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo("[Frenet tester] initialized FrenetConverter object") + + return True + + def on_shutdown(self): + # save the dataframe to a csv file + self.df.to_csv("frenet_statistics.csv") + rospy.loginfo("[Frenet tester] saved frenet statistics to frenet_statistics.csv") + + # plot the s_diff and the d_diff statistics in a histogram, and save the image + self.df["s_diff"].hist() + plt.savefig("frenet_statistics_s.png") + + # clear s_diff plot + plt.clf() + self.df["d_diff"].hist() + plt.savefig("frenet_statistics_d.png") + + rospy.loginfo("[Frenet tester] plotted frenet statistics to frenet_statistics.png") + + def loop(self): + # print difference between the old estimate and the new one + rate = rospy.Rate(10) + rospy.wait_for_message("/car_state/odom_frenet", Odometry) + rospy.wait_for_message("/car_state/pose", PoseStamped) + + # create statitics dataframe + self.df = pd.DataFrame(columns=["s_old", "d_old", "s_new", "d_new", "s_diff", "d_diff"]) + + while not rospy.is_shutdown(): + # compute the difference between the old and the new estimate + s_diff_front = (self.s_new - self.s_old) % self.converter.raceline_length + s_diff_back = (self.s_old - self.s_new) % self.converter.raceline_length + + s_diff = min(s_diff_front, s_diff_back) + d_diff = self.d_new - self.d_old + + # save statistics to a dataframe, with concat + self.df = pd.concat( + [ + self.df, + pd.DataFrame( + [[self.s_old, self.d_old, self.s_new, self.d_new, s_diff, d_diff]], + columns=["s_old", "d_old", "s_new", "d_new", "s_diff", "d_diff"], + ), + ] + ) + + # If the difference is too much, trow a loud error + if abs(s_diff) > 1 or abs(d_diff) > 1: + print(f"Old s:{self.s_old}, d:{self.d_old}") + print(f"New s:{self.s_new}, d:{self.d_new}") + print(f"Diff s:{s_diff}, d:{d_diff}") + rospy.logerr("[Frenet tester] Frenet conversion is not working properly") + raise ValueError("[Frenet tester] Frenet conversion is not working properly") + + cart_new = self.converter.get_cartesian(self.s_old, self.d_old) + print( + f"Difference between old and new cartesian coordinates: {np.linalg.norm([cart_new[0] - self.cart_x, cart_new[1] - self.cart_y])}" + ) + + rate.sleep() + + +if __name__ == "__main__": + frenet_tester = FrenetTester() + frenet_tester.loop() diff --git a/f110_utils/libs/frenet_conversion/srv/Frenet2Glob.srv b/f110_utils/libs/frenet_conversion/srv/Frenet2Glob.srv new file mode 100644 index 0000000..1a3271e --- /dev/null +++ b/f110_utils/libs/frenet_conversion/srv/Frenet2Glob.srv @@ -0,0 +1,5 @@ +float64 s +float64 d +--- +float64 x +float64 y diff --git a/f110_utils/libs/frenet_conversion/srv/Frenet2GlobArr.srv b/f110_utils/libs/frenet_conversion/srv/Frenet2GlobArr.srv new file mode 100644 index 0000000..b1c2c1a --- /dev/null +++ b/f110_utils/libs/frenet_conversion/srv/Frenet2GlobArr.srv @@ -0,0 +1,5 @@ +float64[] s +float64[] d +--- +float64[] x +float64[] y diff --git a/f110_utils/libs/frenet_conversion/srv/Glob2Frenet.srv b/f110_utils/libs/frenet_conversion/srv/Glob2Frenet.srv new file mode 100644 index 0000000..35991a5 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/srv/Glob2Frenet.srv @@ -0,0 +1,6 @@ +float64 x +float64 y +--- +float64 s +float64 d +int32 idx diff --git a/f110_utils/libs/frenet_conversion/srv/Glob2FrenetArr.srv b/f110_utils/libs/frenet_conversion/srv/Glob2FrenetArr.srv new file mode 100644 index 0000000..92085f0 --- /dev/null +++ b/f110_utils/libs/frenet_conversion/srv/Glob2FrenetArr.srv @@ -0,0 +1,6 @@ +float64[] x +float64[] y +--- +float64[] s +float64[] d +int32[] idx diff --git a/f110_utils/nodes/bayesopt4ros b/f110_utils/nodes/bayesopt4ros new file mode 160000 index 0000000..4f697d6 --- /dev/null +++ b/f110_utils/nodes/bayesopt4ros @@ -0,0 +1 @@ +Subproject commit 4f697d63cf9b575e73135f0c93ce343ff713428f diff --git a/f110_utils/nodes/car_to_car_sync/CMakeLists.txt b/f110_utils/nodes/car_to_car_sync/CMakeLists.txt new file mode 100644 index 0000000..d45e831 --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(car_to_car_sync) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES car_to_car_sync +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/car_to_car_sync.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/car_to_car_sync_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_car_to_car_sync.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/car_to_car_sync/README.md b/f110_utils/nodes/car_to_car_sync/README.md new file mode 100644 index 0000000..4cd2697 --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/README.md @@ -0,0 +1,52 @@ +# car_to_car_sync Package + +The `car_to_car_sync` package provides a solution for redirecting ROS topics from one robot to another, enabling seamless communication and data sharing between the two robots. This is particularly useful when you want to use one (PhD) car as GND Truth for the main car (Professor). + +## Overview + +The package contains a Python script, `car2car_redirect_topic.py`, which subscribes to specified topics on Robot B, and republishes the data to corresponding topics on Robot A. + +## Configuration + +1. Update the `topics_to_redirect.yaml` file located in the `config` directory to list the topics you want to redirect. The file should follow this format: + + ```yaml + car2car_topics: + - subname: "/car_state/odom" + pubname: "/opp/car_state/odom" + type: "nav_msgs/msg/Odometry" + - subname: "/car_state/odom_frenet" + pubname: "/opp/car_state/odom_frenet" + type: "nav_msgs/msg/Odometry" + ``` + +2. In the `launch/car_to_car_redirect.launch` file, update the `professor_car_ip` parameter to match the IP address of Robot A. + +## Running the Node + +1. On **Professor Robot**, make sure the `roscore` is running and the `rosbridge_server` is launched: + + ```bash + roslaunch rosbridge_server rosbridge_websocket.launch + ``` + +2. On **PhD Robot**, launch the `car_to_car_sync` node: + + ```bash + roslaunch car_to_car_sync car_to_car_redirect.launch professor_car_ip:= + ``` + +3. The node will now start redirecting the topics as configured in the `topics_to_redirect.yaml` file. + +## Shutting Down + +To safely shut down the node, you can press `Ctrl+C` in the terminal where the node is running. The node has a shutdown hook to ensure that the ROS bridge connection is properly terminated. + + +## Video Guide + +[Watch the Video](https://drive.google.com/file/d/14uEygiFRnf24SA8sSyoOl4IOcJMX3Sf7/view?usp=sharing) + + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/car_to_car_sync/config/topics_to_redirect.yaml b/f110_utils/nodes/car_to_car_sync/config/topics_to_redirect.yaml new file mode 100644 index 0000000..ea67b2d --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/config/topics_to_redirect.yaml @@ -0,0 +1,7 @@ +car2car_topics: + - subname: "/car_state/odom" + pubname: "/opp/car_state/odom" + type: "nav_msgs/msg/Odometry" + - subname: "/car_state/odom_frenet" + pubname: "/opp/car_state/odom_frenet" + type: "nav_msgs/msg/Odometry" diff --git a/f110_utils/nodes/car_to_car_sync/launch/car_to_car_redirect.launch b/f110_utils/nodes/car_to_car_sync/launch/car_to_car_redirect.launch new file mode 100644 index 0000000..8e66afa --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/launch/car_to_car_redirect.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/f110_utils/nodes/car_to_car_sync/package.xml b/f110_utils/nodes/car_to_car_sync/package.xml new file mode 100644 index 0000000..2c18c5d --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/package.xml @@ -0,0 +1,59 @@ + + + car_to_car_sync + 0.0.0 + The car_to_car_sync package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/f110_utils/nodes/car_to_car_sync/src/car2car_redirect_topic.py b/f110_utils/nodes/car_to_car_sync/src/car2car_redirect_topic.py new file mode 100755 index 0000000..de2fe67 --- /dev/null +++ b/f110_utils/nodes/car_to_car_sync/src/car2car_redirect_topic.py @@ -0,0 +1,56 @@ +#!/usr/bin/env python3 +import threading +import roslibpy +import rospy +from twisted.internet import reactor +from nav_msgs.msg import Odometry +from rospy_message_converter import message_converter + + +def start_roslibpy(): + reactor.run(installSignalHandlers=0) + +def callback(data, args): + topic_name, topic_type = args + publisher = roslibpy.Topic(client, topic_name, topic_type) + + # Convert the ROS message to a dictionary + message_dict = message_converter.convert_ros_message_to_dictionary(data) + + # Publish the message + publisher.publish(roslibpy.Message(message_dict)) + +def redirector(): + rospy.init_node('car2car_sync_topic_redirector', anonymous=True) + professor_ip = rospy.get_param('~professor_car_ip', '192.168.192.1') #NUC1 IP default + topics = rospy.get_param('/car2car_topics') + + global client + client = roslibpy.Ros(host=professor_ip, port=9090) + global roslibpy_thread + roslibpy_thread = threading.Thread(target=start_roslibpy) + roslibpy_thread.start() + + for topic in topics: + if topic['type'] == "nav_msgs/msg/Odometry": + rospy.Subscriber(topic['subname'], Odometry, callback, (topic['pubname'], Odometry)) # Update the topic type here + publisher = roslibpy.Topic(client, topic['pubname'], "nav_msgs/Odometry") + publisher.advertise() + else: + rospy.logwarn("[Car to Car Redirect] Unsupported message type: " + topic['type'] + "Please adjust in car2car_sync_topic_redirector.py") + + rospy.spin() + +def shutdown_hook(): + print("[Car to Car Redirect] Shutting down...") + client.terminate() + reactor.callFromThread(reactor.stop) + roslibpy_thread.join() + print("[Car to Car Redirect] Shutdown complete.") + +if __name__ == '__main__': + try: + rospy.on_shutdown(shutdown_hook) + redirector() + except rospy.ROSInterruptException: + pass diff --git a/f110_utils/nodes/cpu_monitor b/f110_utils/nodes/cpu_monitor new file mode 160000 index 0000000..2d20d26 --- /dev/null +++ b/f110_utils/nodes/cpu_monitor @@ -0,0 +1 @@ +Subproject commit 2d20d2617c61cad60fd2873ea197800ff46eebc8 diff --git a/f110_utils/nodes/frenet_conversion_server/CMakeLists.txt b/f110_utils/nodes/frenet_conversion_server/CMakeLists.txt new file mode 100644 index 0000000..6b14170 --- /dev/null +++ b/f110_utils/nodes/frenet_conversion_server/CMakeLists.txt @@ -0,0 +1,203 @@ +cmake_minimum_required(VERSION 3.0.2) +project(frenet_conversion_server) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED + roscpp + frenet_conversion + f110_msgs +) +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS roscpp f110_msgs frenet_conversion +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/frenet_conversion_server.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(${PROJECT_NAME}_node src/frenet_conversion_server_node.cc) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(${PROJECT_NAME}_node + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +install(TARGETS ${PROJECT_NAME}_node + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" + PATTERN ".svn" EXCLUDE +) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_frenet_conversion_server.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/frenet_conversion_server/README.md b/f110_utils/nodes/frenet_conversion_server/README.md new file mode 100644 index 0000000..2abd630 --- /dev/null +++ b/f110_utils/nodes/frenet_conversion_server/README.md @@ -0,0 +1,70 @@ +# Frenet Conversion Server + +This is a `rosservice` that can be used to convert coordinates from the frenet frame (in terms of `\global_waypoints`) to global cartesian coordinates and viceversa. + +To launch the service, run: +``` +rosrun frenet_conversion_server frenet_conversion_server_node +``` + +To test the service from the command line, one can do +``` +rosservice call /convert_glob2frenetarr_service "x: 1.1 y: 2.1" +``` +And the return message will be something like the following, depending on the `/global_trajectory`: +``` +s: +d: +idx: +``` + +The other service available is `/convert_frenet2globarr_service`. + +## Service structure + - Glob2FrenetArr + ``` + # request + float64[] x + float64[] y + --- + # response + float64[] s + float64[] d + int32[] idx + ``` + - Frenet2GlobArr + ``` + # request + float64[] s + float64[] d + --- + # response + float64[] x + float64[] y + ``` + +## Example Python usage +An example of using the service can be found in `/perception/obstacle-detection/objectdetect.py`. + +The service is imported in line 14: +```python +from frenet_conversion.srv import Glob2FrenetArr +``` + +Then the service proxy is initialised (lines 80-82): +```python +# --- Frenet Conversion Service --- +rospy.wait_for_service('convert_glob2frenetarr_service') +self.glob2frenet = rospy.ServiceProxy('convert_glob2frenetarr_service', Glob2FrenetArr) +``` + +And the proxy is used for instance in lines 170-173 +```python +# Do frenet conversion from (x,y) [map] -> (s,d) [frenet wrt min curv] via conversion service where x, y, s and d are arrays of arbitrary length +resp = self.glob2frenet([x1, x2], [y1, y2]) +s_points = resp.s +d_points = resp.d +``` + +--- +[Go back to the utils list](../../README.md) diff --git a/f110_utils/nodes/frenet_conversion_server/include/frenet_conversion_server.h b/f110_utils/nodes/frenet_conversion_server/include/frenet_conversion_server.h new file mode 100644 index 0000000..e6f66f5 --- /dev/null +++ b/f110_utils/nodes/frenet_conversion_server/include/frenet_conversion_server.h @@ -0,0 +1,55 @@ +#ifndef FRENET_CONVERSION_SERVER_H_ +#define FRENET_CONVERSION_SERVER_H_ + +#include +#include +#include "frenet_conversion.h" +#include "frenet_conversion/Frenet2Glob.h" +#include "frenet_conversion/Frenet2GlobArr.h" +#include "frenet_conversion/Glob2Frenet.h" +#include "frenet_conversion/Glob2FrenetArr.h" + + +namespace frenet_conversion_server +{ + + class FrenetConversionServer + { + public: + FrenetConversionServer(ros::NodeHandle &nh, bool PerceptionOnly); + ~FrenetConversionServer(); + bool PerceptionOnly_; + + private: + void InitSubscribersPublishers(); + void GlobalTrajectoryCallback(const f110_msgs::WpntArrayConstPtr &wpt_array); + bool Glob2FrenetConversionCallback( + frenet_conversion::Glob2Frenet::Request &req, + frenet_conversion::Glob2Frenet::Response &res); + bool Frenet2GlobConversionCallback( + frenet_conversion::Frenet2Glob::Request &req, + frenet_conversion::Frenet2Glob::Response &res); + bool Glob2FrenetArrConversionCallback( + frenet_conversion::Glob2FrenetArr::Request &req, + frenet_conversion::Glob2FrenetArr::Response &res); + bool Frenet2GlobArrConversionCallback( + frenet_conversion::Frenet2GlobArr::Request &req, + frenet_conversion::Frenet2GlobArr::Response &res); + + ros::NodeHandle nh_; + ros::Subscriber global_trajectory_sub_; + ros::ServiceServer convert_glob2frenet_server_; + ros::ServiceServer convert_glob2frenetarr_server_; + ros::ServiceServer convert_frenet2glob_server_; + ros::ServiceServer convert_frenet2globarr_server_; + + std::vector wpt_array_; + + frenet_conversion::FrenetConverter frenet_converter_; + + bool has_global_trajectory_{false}; + }; + +} // end namespace frenet_conversion_server + +#endif /* FRENET_CONVERSION_SERVER_H_ */ \ No newline at end of file diff --git a/f110_utils/nodes/frenet_conversion_server/package.xml b/f110_utils/nodes/frenet_conversion_server/package.xml new file mode 100644 index 0000000..cf385c8 --- /dev/null +++ b/f110_utils/nodes/frenet_conversion_server/package.xml @@ -0,0 +1,62 @@ + + + frenet_conversion_server + 0.0.0 + The frenet_conversion_server package + + + + + gnone + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + roscpp + f110_msgs + frenet_conversion + + + + + + + diff --git a/f110_utils/nodes/frenet_conversion_server/src/frenet_conversion_server_node.cc b/f110_utils/nodes/frenet_conversion_server/src/frenet_conversion_server_node.cc new file mode 100644 index 0000000..ac078bc --- /dev/null +++ b/f110_utils/nodes/frenet_conversion_server/src/frenet_conversion_server_node.cc @@ -0,0 +1,140 @@ +#include "frenet_conversion_server.h" + +namespace frenet_conversion_server +{ + + FrenetConversionServer::FrenetConversionServer(ros::NodeHandle &nh, bool PerceptionOnly) : nh_(nh), PerceptionOnly_(PerceptionOnly) { + InitSubscribersPublishers(); + ROS_INFO("[Frenet Conversion] Waiting for global waypoints..."); + ros::topic::waitForMessage("/global_waypoints"); + ROS_INFO("[Frenet Conversion] Frenet Conversion Server ready."); + ros::spin(); + } + + FrenetConversionServer::~FrenetConversionServer() {} + + void FrenetConversionServer::InitSubscribersPublishers() + { + global_trajectory_sub_ = nh_.subscribe("/global_waypoints", 10, &FrenetConversionServer::GlobalTrajectoryCallback, this); + ROS_INFO("[Frenet Conversion] PERCEPTION ONLY: %d", PerceptionOnly_); + if(!PerceptionOnly_){ + convert_glob2frenet_server_ = nh_.advertiseService( + "convert_glob2frenet_service", + &FrenetConversionServer::Glob2FrenetConversionCallback, this); + convert_glob2frenetarr_server_ = nh_.advertiseService( + "convert_glob2frenetarr_service", + &FrenetConversionServer::Glob2FrenetArrConversionCallback, this); + convert_frenet2glob_server_ = nh_.advertiseService( + "convert_frenet2glob_service", + &FrenetConversionServer::Frenet2GlobConversionCallback, this); + convert_frenet2globarr_server_ = nh_.advertiseService( + "convert_frenet2globarr_service", + &FrenetConversionServer::Frenet2GlobArrConversionCallback, this); + } + else{ + convert_glob2frenet_server_ = nh_.advertiseService( + "convert_glob2frenet_perception_service", + &FrenetConversionServer::Glob2FrenetConversionCallback, this); + convert_glob2frenetarr_server_ = nh_.advertiseService( + "convert_glob2frenetarr_perception_service", + &FrenetConversionServer::Glob2FrenetArrConversionCallback, this); + convert_frenet2glob_server_ = nh_.advertiseService( + "convert_frenet2glob_perception_service", + &FrenetConversionServer::Frenet2GlobConversionCallback, this); + convert_frenet2globarr_server_ = nh_.advertiseService( + "convert_frenet2globarr_perception_service", + &FrenetConversionServer::Frenet2GlobArrConversionCallback, this); + } + } + + bool FrenetConversionServer::Glob2FrenetConversionCallback( + frenet_conversion::Glob2Frenet::Request &req, + frenet_conversion::Glob2Frenet::Response &res) + { + frenet_converter_.GetFrenetPoint( + req.x, req.y, &res.s, &res.d, &res.idx, true); + return true; + } + + bool FrenetConversionServer::Glob2FrenetArrConversionCallback( + frenet_conversion::Glob2FrenetArr::Request &req, + frenet_conversion::Glob2FrenetArr::Response &res) + { + std::vector s,d; + std::vector idx; + for (int i = 0; i < req.x.size(); i++) + { + double s_i,d_i; + int idx_i; + frenet_converter_.GetFrenetPoint(req.x[i], req.y[i], &s_i, &d_i, &idx_i, true); + s.push_back(s_i); + d.push_back(d_i); + idx.push_back(idx_i); + } + res.s = s; + res.d = d; + res.idx = idx; + return true; + } + + + bool FrenetConversionServer::Frenet2GlobConversionCallback( + frenet_conversion::Frenet2Glob::Request &req, + frenet_conversion::Frenet2Glob::Response &res) + { + frenet_converter_.GetGlobalPoint( + req.s, req.d, &res.x, &res.y); + return true; + } + + bool FrenetConversionServer::Frenet2GlobArrConversionCallback( + frenet_conversion::Frenet2GlobArr::Request &req, + frenet_conversion::Frenet2GlobArr::Response &res) + { + std::vector x,y; + for (int i = 0; i < req.s.size(); i++) + { + double x_i,y_i; + frenet_converter_.GetGlobalPoint(req.s[i], req.d[i], &x_i, &y_i); + x.push_back(x_i); + y.push_back(y_i); + } + res.x = x; + res.y = y; + return true; + } + + void FrenetConversionServer::GlobalTrajectoryCallback( + const f110_msgs::WpntArrayConstPtr &wpt_array) + { + wpt_array_ = wpt_array->wpnts; + bool enable_wrapping = true; + frenet_converter_.SetGlobalTrajectory(&wpt_array_, enable_wrapping); + if (!has_global_trajectory_) + { + ROS_INFO("Global waypoints received."); + } + has_global_trajectory_ = true; + } +} // end namespace frenet_conversion_server + +// launch node +int main(int argc, char **argv) +{ + ros::init(argc, argv, "frenet_conversion_server"); + ros::NodeHandle nh; + ros::NodeHandle private_nh("~"); + + bool PerceptionOnly; + if (!private_nh.getParam("PerceptionOnly", PerceptionOnly)) + { + PerceptionOnly = false; + } + else + { + private_nh.getParam("PerceptionOnly", PerceptionOnly); + } + + frenet_conversion_server::FrenetConversionServer node(nh, PerceptionOnly); + return 0; +} diff --git a/f110_utils/nodes/frenet_odom_republisher/CMakeLists.txt b/f110_utils/nodes/frenet_odom_republisher/CMakeLists.txt new file mode 100644 index 0000000..db2efa5 --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.10) +project(frenet_odom_republisher) + +find_package(catkin REQUIRED COMPONENTS + roscpp + frenet_conversion + nav_msgs + f110_msgs + tf +) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS roscpp nav_msgs f110_msgs frenet_conversion tf + LIBRARIES ${PROJECT_NAME} +) + +include_directories(include + ${catkin_INCLUDE_DIRS} + ${CUSTOM_EIGEN_INCLUDE_DIR} + ${Threads_INCLUDE_DIRS}) + +add_executable(frenet_odom_republisher_node + src/frenet_odom_republisher_node.cc + ) + +target_link_libraries(frenet_odom_republisher_node + ${catkin_LIBRARIES} + ) + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY cfg + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) \ No newline at end of file diff --git a/f110_utils/nodes/frenet_odom_republisher/README.md b/f110_utils/nodes/frenet_odom_republisher/README.md new file mode 100644 index 0000000..bf1125f --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/README.md @@ -0,0 +1,13 @@ +# Frenet Odom Republisher + +This nodes publishes the position and velocity of the racecar in frenet coordinates at the topic `/car_state/odom_frenet`. +The topic is of type `nav_msgs/Odometry`, and the specific Frenet information is encoded in this way: + - s, or advancemente on the reference line is in `pose.pose.position.x` + - d, or lateral deviation from the reference line is in `pose.pose.position.y` + - longitudinal velocity is in `twist.twist.linear.x` + - lateral velocity is in `twist.twist.linear.y` + +NOTE: yaw is currently NOT relative to the trajectory + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/frenet_odom_republisher/include/frenet_odom_republisher_node.h b/f110_utils/nodes/frenet_odom_republisher/include/frenet_odom_republisher_node.h new file mode 100644 index 0000000..70e8861 --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/include/frenet_odom_republisher_node.h @@ -0,0 +1,39 @@ +#ifndef FRENET_ODOM_REPUBLISHER_H_ +#define FRENET_ODOM_REPUBLISHER_H_ + +#include +#include + +#include +#include +#include + +#include "frenet_conversion.h" + +namespace frenet_odom_republisher{ + +class FrenetRepublisher { + public: + FrenetRepublisher(ros::NodeHandle& nh); + ~FrenetRepublisher(); + private: + void InitSubscribersPublishers(); + void GlobalTrajectoryCallback(const f110_msgs::WpntArrayConstPtr &wpt_array); + void OdomCallback(const nav_msgs::OdometryConstPtr &msg); + + ros::NodeHandle nh_; + ros::Subscriber global_trajectory_sub_; + ros::Subscriber odom_sub_; + ros::Publisher frenet_odom_pub_; + + std::vector wpt_array_; + int closest_wpt_index_{0}; + + frenet_conversion::FrenetConverter frenet_converter_; + + bool has_global_trajectory_{false}; +}; + +}// end namespace frenet_odom_republisher + +#endif /* FRENET_ODOM_REPUBLISHER_H_ */ \ No newline at end of file diff --git a/f110_utils/nodes/frenet_odom_republisher/launch/frenet_odom_republisher.launch b/f110_utils/nodes/frenet_odom_republisher/launch/frenet_odom_republisher.launch new file mode 100644 index 0000000..5405968 --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/launch/frenet_odom_republisher.launch @@ -0,0 +1,10 @@ + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/frenet_odom_republisher/package.xml b/f110_utils/nodes/frenet_odom_republisher/package.xml new file mode 100644 index 0000000..62035d0 --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/package.xml @@ -0,0 +1,22 @@ + + + frenet_odom_republisher + 0.0.0 + + + Republishing odemtry in frenet frame + + + Jonathan Becker + Apache License 2.0 + + catkin + + roscpp + nav_msgs + f110_msgs + frenet_conversion + tf + + + diff --git a/f110_utils/nodes/frenet_odom_republisher/src/frenet_odom_republisher_node.cc b/f110_utils/nodes/frenet_odom_republisher/src/frenet_odom_republisher_node.cc new file mode 100644 index 0000000..806e6f5 --- /dev/null +++ b/f110_utils/nodes/frenet_odom_republisher/src/frenet_odom_republisher_node.cc @@ -0,0 +1,72 @@ +#include +#include +#include + +namespace frenet_odom_republisher{ + +FrenetRepublisher::FrenetRepublisher(ros::NodeHandle& nh): + nh_(nh){ + InitSubscribersPublishers(); + ros::spin(); +} + +FrenetRepublisher::~FrenetRepublisher() {} + +void FrenetRepublisher::InitSubscribersPublishers() { + global_trajectory_sub_ = nh_.subscribe + ("/global_waypoints", 10, &FrenetRepublisher::GlobalTrajectoryCallback, this); + + odom_sub_ = nh_.subscribe + ("/odom", 10, &FrenetRepublisher::OdomCallback, this); + + frenet_odom_pub_ = nh_.advertise + ("/odom_frenet", 1); +} + +void FrenetRepublisher::GlobalTrajectoryCallback( + const f110_msgs::WpntArrayConstPtr &wpt_array){ + wpt_array_ = wpt_array->wpnts; + bool enable_wrapping = true; + frenet_converter_.SetGlobalTrajectory(&wpt_array_, enable_wrapping); + has_global_trajectory_ = true; +} + +void FrenetRepublisher::OdomCallback(const nav_msgs::OdometryConstPtr &msg){ + if (!has_global_trajectory_) { + return; + } else { + nav_msgs::Odometry frenet_odom = *msg; + tf::Quaternion q( + msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, + msg->pose.pose.orientation.z, + msg->pose.pose.orientation.w); + tf::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + frenet_converter_.GetFrenetOdometry(msg->pose.pose.position.x, + msg->pose.pose.position.y, + yaw, msg->twist.twist.linear.x, + msg->twist.twist.linear.y, + &frenet_odom.pose.pose.position.x, + &frenet_odom.pose.pose.position.y, + &frenet_odom.twist.twist.linear.x, + &frenet_odom.twist.twist.linear.y, + &closest_wpt_index_); + // abuse child frame id to pass closest wapoint index + frenet_odom.child_frame_id = std::to_string(closest_wpt_index_); + frenet_odom_pub_.publish(frenet_odom); + } +} + +}// end namespace frenet_odom_republisher + +// launch node +int main(int argc, char** argv) +{ + ros::init(argc, argv, "frenet_odom_republisher"); + ros::NodeHandle nh; + + frenet_odom_republisher::FrenetRepublisher node(nh); + return 0; +} \ No newline at end of file diff --git a/f110_utils/nodes/gb_traj_publisher/CMakeLists.txt b/f110_utils/nodes/gb_traj_publisher/CMakeLists.txt new file mode 100644 index 0000000..32f3a3a --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.0.2) +project(gb_traj_publisher) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + rospy + std_msgs + f110_msgs +) + +# call setup.py +catkin_python_setup() + +# add_executable(gb_traj_publisher src/gb_traj_publisher.py) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +# catkin_package( +# INCLUDE_DIRS include +# LIBRARIES f110_planner +# CATKIN_DEPENDS rospy geometry_msgs f110_msgs std_msgs +# DEPENDS system_lib +# ) diff --git a/f110_utils/nodes/gb_traj_publisher/README.md b/f110_utils/nodes/gb_traj_publisher/README.md new file mode 100644 index 0000000..13f99b7 --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/README.md @@ -0,0 +1,20 @@ +# Global Trajectory Republisher +This package contains the global trajectory republisher which currently plays the central role of providing the trajectory to the racing system. + +Currently the trajectory is the re-published in the following way: + 1. During mapping, a rosbag is recorded, so that when the trajectory is computed it will be recorded with the bag + 2. When the `base_system` is launched, the rosbag is played and the `global_trajectory_publisher` is launched. This node reads the trajectory and then periodically republishes the trajectory even after the bag stops playing. + +How to use the ellipse map for experiments: + 1. SSH into the car and launch teleop with `roslaunch racecar pbl_teleop.launch racecar_version:=NUC2`. + 2. Launch `roslaunch gb_traj_publisher gb_traj.launch exp:=ellipse` to get the ellipse trajectory. Also open rviz via the pitstarter script. + 3. Add the topic `/gb_traj_markers` to see the ellipse. + 4. Place some objects arround the ellipse such that SLAM locilisation works. + 5. Create a folder at `~/catkin_ws/src/race_stack/stack_master/maps`. + 6. Drive one lap to map. + 7. Call `./finish_map.sh ~/catkin_ws/src/race_stack/stack_master/maps/test/test.pbstream` with the right path to the above created folder. + 8. Now the pbstream is saved. We now run `roslaunch racecar pbl_teleop.launch racecar_version:=NUC2 loc_only:=True map_name:=test`. You might have to copy existing ot_sector and speed_scaling yaml files to make it work. + 9. Relaunch the `roslaunch gb_traj_publisher gb_traj.launch exp:=ellipse` to publish the trajectory. Take this trajectory for the controller. + + --- +[Go back to the utils list](../../README.md) diff --git a/f110_utils/nodes/gb_traj_publisher/launch/gb_traj.launch b/f110_utils/nodes/gb_traj_publisher/launch/gb_traj.launch new file mode 100644 index 0000000..6bba081 --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/launch/gb_traj.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/gb_traj_publisher/package.xml b/f110_utils/nodes/gb_traj_publisher/package.xml new file mode 100644 index 0000000..690c703 --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/package.xml @@ -0,0 +1,63 @@ + + + gb_traj_publisher + 0.0.0 + The gb_traj_publisher package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + rospy + f110_msgs + std_msgs + + + + + + + + diff --git a/f110_utils/nodes/gb_traj_publisher/setup.py b/f110_utils/nodes/gb_traj_publisher/setup.py new file mode 100644 index 0000000..08b4ad7 --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['gb_traj_publisher'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/f110_utils/nodes/gb_traj_publisher/src/gb_traj_publisher.py b/f110_utils/nodes/gb_traj_publisher/src/gb_traj_publisher.py new file mode 100755 index 0000000..ac10e71 --- /dev/null +++ b/f110_utils/nodes/gb_traj_publisher/src/gb_traj_publisher.py @@ -0,0 +1,295 @@ +#!/usr/bin/env python3 +import tf +import rospy +import math, sys +from f110_msgs.msg import Wpnt, WpntArray +from visualization_msgs.msg import Marker, MarkerArray +import numpy as np +from copy import deepcopy + + +class GBPubNode(): + #circle center (x_o, y_o) and radius r in meters and number of discretised circle + def __init__(self): + rospy.init_node('gbpub_node', anonymous=True) + self.pub_gb = rospy.Publisher('global_waypoints_scaled', WpntArray, queue_size=10) + self.pub_markers = rospy.Publisher('gb_traj_markers', MarkerArray, queue_size=10) + + #Get params + exp = rospy.get_param("/gb_traj_pub/experiment") + self.speed = rospy.get_param("/gb_traj_pub/speed") + if exp == 'circle' or exp == 'circle_reverse': + print('Circle center (x_o, y_o) and radius r in meters and number of discretised circle') + x_o = rospy.get_param("/gb_traj_pub/x_o") + y_o = rospy.get_param("/gb_traj_pub/y_o") + r = rospy.get_param("/gb_traj_pub/r") + nb = rospy.get_param("/gb_traj_pub/nb") + if exp == 'circle': + self.circle_loop(center=(x_o, y_o), r=r, nb_points=int(nb)) + elif exp == 'circle_reverse': + self.circle_loop_reverse(center=(x_o, y_o), r=r, nb_points=int(nb)) + + + elif exp == 'ellipse': + print('Ellipse center (x_o, y_o) and x/y radius a/b in meters and number of discretised circle') + x_o = rospy.get_param("/gb_traj_pub/x_o") + y_o = rospy.get_param("/gb_traj_pub/y_o") + a = rospy.get_param("/gb_traj_pub/a") + b = rospy.get_param("/gb_traj_pub/b") + nb = rospy.get_param("/gb_traj_pub/nb") + + self.ellipse_loop(center=(x_o, y_o), a=a, b=b, nb_points=int(nb)) + + elif exp == 'line': + print('Line center (x_o, y_o) and length a in meters and number of discretised line') + x_o = rospy.get_param("/gb_traj_pub/x_o") + y_o = rospy.get_param("/gb_traj_pub/y_o") + a = rospy.get_param("/gb_traj_pub/a") + nb = rospy.get_param("/gb_traj_pub/nb") + + self.line_loop(center=(x_o, y_o), l=a, nb_points=int(nb)) + + def line_loop(self, center=(0,0), l=100, nb_points=10): + rate = rospy.Rate(5) + pos = [i*l/nb_points for i in range(nb_points+1)] + gb_wpnts = WpntArray() + gb_markers = MarkerArray() + + for i, pos in enumerate(pos): + # Pass Wpnts + wpnt = Wpnt() + wpnt.id = i + wpnt.x_m = pos #+ 0.3*(-1)**i + wpnt.y_m = pos #0.2*(-1)**i + wpnt.s_m = np.sqrt(2)*pos + wpnt.psi_rad = math.pi/4 + wpnt.vx_mps = self.speed + wpnt.d_left = 0.5 + wpnt.d_right = 1 + gb_wpnts.wpnts.append(wpnt) + + #Pass Markers + marker = Marker() + marker.header.frame_id = 'map' + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.pose.orientation.w = 1 + + marker.id = i*3 + marker.color.r = 1.0 + marker.pose.position.x = wpnt.x_m + wpnt.d_right * math.cos(angle) + marker.pose.position.y = wpnt.y_m + wpnt.d_right * math.sin(angle) + right_bound = deepcopy(marker) + gb_markers.markers.append(right_bound) + + marker.id = i*3 + 1 + marker.color.g = 1.0 + marker.pose.position.x = wpnt.x_m - wpnt.d_left * math.cos(angle) + marker.pose.position.y = wpnt.y_m - wpnt.d_left * math.sin(angle) + left_bound = deepcopy(marker) + gb_markers.markers.append(left_bound) + + marker.id = i*3 + 2 + marker.color.b = 1.0 + marker.pose.position.x = wpnt.x_m + marker.pose.position.y = wpnt.y_m + middle = deepcopy(marker) + gb_markers.markers.append(middle) + + # Publish stuff + while not rospy.is_shutdown(): + gb_wpnts.header.stamp = rospy.Time.now() + self.pub_gb.publish(gb_wpnts) + self.pub_markers.publish(gb_markers) + rate.sleep() + + def circle_loop(self, center=(0,0), r=3, nb_points=10): + rate = rospy.Rate(5) # rate in hertz + + angles = [i*2*math.pi/nb_points for i in range(nb_points+1)] + gb_wpnts = WpntArray() + gb_markers = MarkerArray() + + + for i, angle in enumerate(angles): + # Pass Wpnts + wpnt = Wpnt() + wpnt.id = i + wpnt.x_m = r * math.cos(angle) + center[0] + wpnt.y_m = r * math.sin(angle) + center[1] + wpnt.s_m = r * angle + wpnt.psi_rad = (angle + math.pi/2) % (2*math.pi) + wpnt.vx_mps = self.speed + wpnt.d_left = abs(2 * math.cos(angle)) - 1 + wpnt.d_right = 3 + gb_wpnts.wpnts.append(wpnt) + + #Pass Markers + marker = Marker() + marker.header.frame_id = 'map' + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 1.0 + marker.pose.orientation.w = 1 + + marker.id = i*3 + marker.color.r = 1.0 + marker.pose.position.x = wpnt.x_m + wpnt.d_right * math.cos(angle) + marker.pose.position.y = wpnt.y_m + wpnt.d_right * math.sin(angle) + right_bound = deepcopy(marker) + gb_markers.markers.append(right_bound) + + marker.id = i*3 + 1 + marker.color.g = 1.0 + marker.pose.position.x = wpnt.x_m - wpnt.d_left * math.cos(angle) + marker.pose.position.y = wpnt.y_m - wpnt.d_left * math.sin(angle) + left_bound = deepcopy(marker) + gb_markers.markers.append(left_bound) + + marker.id = i*3 + 2 + marker.color.b = 1.0 + marker.pose.position.x = wpnt.x_m + marker.pose.position.y = wpnt.y_m + middle = deepcopy(marker) + gb_markers.markers.append(middle) + + # Publish stuff + while not rospy.is_shutdown(): + gb_wpnts.header.stamp = rospy.Time.now() + self.pub_gb.publish(gb_wpnts) + self.pub_markers.publish(gb_markers) + rate.sleep() + + def circle_loop_reverse(self, center=(0,0), r=3, nb_points=10): + rate = rospy.Rate(5) # rate in hertz + + angles = [i*2*math.pi/nb_points for i in range(nb_points+1)] + gb_wpnts = WpntArray() + gb_markers = MarkerArray() + + + for i, angle in enumerate(angles): + # Pass Wpnts + wpnt = Wpnt() + wpnt.id = i + wpnt.x_m = r * math.cos(-angle) + center[0] + wpnt.y_m = r * math.sin(-angle) + center[1] + wpnt.s_m = r * angle + wpnt.psi_rad = (-angle + 3*math.pi/2) % (2*math.pi) + wpnt.vx_mps = self.speed + wpnt.d_left = 3 + wpnt.d_right = abs(2 * math.cos(angle)) - 1 + gb_wpnts.wpnts.append(wpnt) + + #Pass Markers + marker = Marker() + marker.header.frame_id = 'map' + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 1.0 + marker.pose.orientation.w = 1 + + marker.id = i*3 + marker.color.r = 1.0 + marker.pose.position.x = wpnt.x_m - wpnt.d_right * math.cos(-angle) + marker.pose.position.y = wpnt.y_m - wpnt.d_right * math.sin(-angle) + right_bound = deepcopy(marker) + gb_markers.markers.append(right_bound) + + marker.id = i*3 + 1 + marker.color.g = 1.0 + marker.pose.position.x = wpnt.x_m + wpnt.d_left * math.cos(-angle) + marker.pose.position.y = wpnt.y_m + wpnt.d_left * math.sin(-angle) + left_bound = deepcopy(marker) + gb_markers.markers.append(left_bound) + + marker.id = i*3 + 2 + marker.color.b = 1.0 + marker.pose.position.x = wpnt.x_m + marker.pose.position.y = wpnt.y_m + middle = deepcopy(marker) + gb_markers.markers.append(middle) + + # Publish stuff + while not rospy.is_shutdown(): + gb_wpnts.header.stamp = rospy.Time.now() + self.pub_gb.publish(gb_wpnts) + self.pub_markers.publish(gb_markers) + rate.sleep() + + def ellipse_loop(self, center=(0,0), a=3, b=5, nb_points=10): + rate = rospy.Rate(5) # rate in hertz + + angles = [i*2*math.pi/nb_points for i in range(nb_points+1)] + gb_wpnts = WpntArray() + gb_markers = MarkerArray() + s = 0 + prev_angle = 0 + + + for i, angle in enumerate(angles): + # Pass Wpnts + wpnt = Wpnt() + wpnt.id = i + wpnt.x_m = a * math.cos(angle) + center[0] + wpnt.y_m = b * math.sin(angle) + center[1] + # TODO: s_m is approximated + s += a*(angle-prev_angle)*np.sqrt(1 - (a**2 - b**2)/(a**2) * math.sin(angle)**2) + wpnt.s_m = s + prev_angle = angle + wpnt.psi_rad = (angle + math.pi/2) % (2*math.pi) + wpnt.vx_mps = self.speed + wpnt.d_left = 2 + wpnt.d_right = 2 + gb_wpnts.wpnts.append(wpnt) + + #Pass Markers + marker = Marker() + marker.header.frame_id = 'map' + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 1.0 + marker.color.r = 1.0 + marker.pose.orientation.w = 1 + + marker.id = i*3 + marker.color.r = 1.0 + marker.pose.position.x = wpnt.x_m + wpnt.d_right * math.cos(angle) + marker.pose.position.y = wpnt.y_m + wpnt.d_right * math.sin(angle) + right_bound = deepcopy(marker) + gb_markers.markers.append(right_bound) + + marker.id = i*3 + 1 + marker.color.g = 1.0 + marker.pose.position.x = wpnt.x_m - wpnt.d_left * math.cos(angle) + marker.pose.position.y = wpnt.y_m - wpnt.d_left * math.sin(angle) + left_bound = deepcopy(marker) + gb_markers.markers.append(left_bound) + + marker.id = i*3 + 2 + marker.color.b = 1.0 + marker.pose.position.x = wpnt.x_m + marker.pose.position.y = wpnt.y_m + middle = deepcopy(marker) + gb_markers.markers.append(middle) + + + # Publish stuff + while not rospy.is_shutdown(): + gb_wpnts.header.stamp = rospy.Time.now() + self.pub_gb.publish(gb_wpnts) + self.pub_markers.publish(gb_markers) + rate.sleep() + +if __name__ == "__main__": + gbnode = GBPubNode() diff --git a/f110_utils/nodes/lap_analyser/.gitignore b/f110_utils/nodes/lap_analyser/.gitignore new file mode 100644 index 0000000..07f43b8 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/.gitignore @@ -0,0 +1 @@ +data/* \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/CMakeLists.txt b/f110_utils/nodes/lap_analyser/CMakeLists.txt new file mode 100644 index 0000000..510c486 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 3.0.2) +project(lap_analyser) + +## Compile as C++11, supported in ROS Kinetic and newer +add_compile_options(-std=c++11 -g) + +## Find catkin macros and libraries +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + roscpp + rospy + std_msgs + f110_msgs + tf + tf_conversions + visualization_msgs +) + +# Find Eigen3 +find_package(Eigen3 REQUIRED) + + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs f110_msgs tf visualization_msgs + DEPENDS EIGEN3 +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable(scan_align_analyzer_cppnode src/lap_analyser/ScanAlignAnalyzer.cpp) +target_link_libraries(scan_align_analyzer_cppnode ${catkin_LIBRARIES}) + diff --git a/f110_utils/nodes/lap_analyser/README.md b/f110_utils/nodes/lap_analyser/README.md new file mode 100644 index 0000000..d076c88 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/README.md @@ -0,0 +1,83 @@ +# Lap Analyser +This package contains a couple of feature to analyze laps. + +There are currently two main analyzers: + - LapAnalyser + - VelAnalyser + +They are put together in the data_analyser, which can be launched with its launch file: +``` +roslaunch lap_analyser data_analyser.launch +``` + +## Analyzer info +### Lap Analyzer +It provides information about completed laps. +Specifically it provides the information in the custom message `f110_msgs/LapData`on the topic `lap_data`. +The (self-explanatory) structure of the message is as follows: +``` +std_msgs/Header header + +int32 lap_count +float64 lap_time +float64 average_lateral_error_to_global_waypoints +float64 max_lateral_error_to_global_waypoints +``` + +It can be launched with the `lap_analyser.launch`. + +The car distance to the track boundary is calculated inside `lap_analyser.py` . Each lap the minimum recorded distance is published as well in a topic called `/min_car_distance_to_boundary`. +*Comment*: In the future it would make sense to integrate this into the `/lap_data` topic. The minimum car distance to the track boundary can be used as a measure of how likely is the car to crash/touch the boundary. This is currently used to optimize sector scalers and l1 parameter. + +### VelAnalyser +It provides information about the current velocity of the car and the target velocity of the trajectory. The message type is `geometry_msgs/Point` and the topic is `velocity/current`. +The target veolcity is published at the `velocity/trajectory` topic. + +This node also provides information about the current steering input and the target one, respectively at `steering_input` and `steering/trajectory`. The message type is the same the velocity one. + +### Longitudinal Analyser +It provides information about the Acceleration based Velocity Controller and the Trailing controller. +Every lap the average as well as the maximal Velocity error or Trailing error respectively. +It is launched with `longitudinal_analyser.launch` +## Plotting features + +There are some basic plotting feature to obtain live plots of important measures for tuning. + +### Prerequisites +Install plotjuggler and all the ros plugins with the single command: +``` +sudo apt install ros-noetic-plotjuggler-ros +``` + +Run the base system and a controller as usual. + + +### Usage + 1. Launch the data analyser with `roslaunch lap_analyser data_analyser.launch` + + 2. Launch the data plotter with `roslaunch lap_analyser data_plotter.launch` + + 3. Press yes when the following popup appears (it appears twice): + ![image.png](./data/image.png) + + 4. When the "Select ROS messages" popup appears, check that the following topics are selected: + - `/car_state/odom_frenet` + - `/data_analyser/*` (should be five in total) + - `/vesc/sensors/imu/raw` + + Then press ok + 5. Press OK on the warning popup that might appear. Two `plotjuggler` screens will appear. Most likely not all the curves will be correctly visualised. + 6. Reload the config files by pressing the "load data and windows/plot layout" button as in the picture + ![image-1.png](./data/image-1.png) + + and by choosing the files `config/lapplot_pj.xml`, `config/tracking_plot_pj.xml` or `config/long_ana_pj.xml`, depending on the features you want do analyse + + 1. now all the plots should be working. For a better visualization experience set the buffer of the tracking plot to the first integer value larger than the lap time and set the lap plot buffer to roughly ten times that value. Buffer is set up in the upper left of plot juggler: + ![image-2.png](./data/image-2.png) + + +*Note* : This setup was only tested in simulation. + + +--- +[Go back to the utils list](../../README.md) diff --git a/f110_utils/nodes/lap_analyser/config/lapplot_pj.xml b/f110_utils/nodes/lap_analyser/config/lapplot_pj.xml new file mode 100644 index 0000000..a8ba27e --- /dev/null +++ b/f110_utils/nodes/lap_analyser/config/lapplot_pj.xml @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/lap_analyser/config/long_ana_pj.xml b/f110_utils/nodes/lap_analyser/config/long_ana_pj.xml new file mode 100644 index 0000000..a371ff9 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/config/long_ana_pj.xml @@ -0,0 +1,132 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/lap_analyser/config/rqt_multiplot.xml b/f110_utils/nodes/lap_analyser/config/rqt_multiplot.xml new file mode 100644 index 0000000..8bc861d --- /dev/null +++ b/f110_utils/nodes/lap_analyser/config/rqt_multiplot.xml @@ -0,0 +1,164 @@ + + + + #ffffff + #000000 + false + false + + + + + + + Untitled Axis + 0 + true + + + Untitled Axis + 0 + true + + + + + + + + lap_count + 0 + + 1000 + 0 + 0 + -1000 + 0 + + /data_analyser/lap_data + f110_msgs/LapData + + + lap_count + 0 + + 15 + 0 + 0 + -1000 + 1 + + /data_analyser/lap_data + f110_msgs/LapData + + + + #3465a4 + 1 + + + 10 + 10 + 3 + + + 100 + Laptimes + + + + true + + 30 + Ultra Plots + + + + + + + + Untitled Axis + 0 + true + + + Untitled Axis + 0 + true + + + + + + + + x + 0 + + 1000 + 0 + 0 + -1000 + 0 + + /data_analyser/velocity/trajectory + geometry_msgs/Point + + + y + 0 + + 1000 + 0 + 0 + -1000 + 0 + + /data_analyser/velocity/trajectory + geometry_msgs/Point + + + + #000000 + 0 + + + 240 + 10 + 2 + + + 240 + Untitled Curve + + + + true + + 30 + Velocity plot + + + + false +
+ diff --git a/f110_utils/nodes/lap_analyser/config/tracking_plot_pj.xml b/f110_utils/nodes/lap_analyser/config/tracking_plot_pj.xml new file mode 100644 index 0000000..d86a587 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/config/tracking_plot_pj.xml @@ -0,0 +1,90 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/lap_analyser/include/ScanAlignAnalyzer.hpp b/f110_utils/nodes/lap_analyser/include/ScanAlignAnalyzer.hpp new file mode 100644 index 0000000..92fcb00 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/include/ScanAlignAnalyzer.hpp @@ -0,0 +1,69 @@ +#ifndef LASER_MAP_OVERLAP_CHECKER_H +#define LASER_MAP_OVERLAP_CHECKER_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +class LaserMapOverlapChecker { +public: + LaserMapOverlapChecker(); + ~LaserMapOverlapChecker() = default; + + void mapCallback(const nav_msgs::OccupancyGrid& data); + void laserCallback(const sensor_msgs::LaserScan& data); + void trackboundsCallback(const visualization_msgs::MarkerArray& data); + void glbWpntsCallback(const f110_msgs::WpntArray& data); + + void loop(); + +private: + Eigen::MatrixXd laser2mapConversion(const sensor_msgs::LaserScan& laser); + double computeScanAlignment(const Eigen::MatrixXd& scan_in_map, const visualization_msgs::MarkerArray& trackbounds); + + // ROS NodeHandle + ros::NodeHandle nh_; + + // ROS Subscribers + ros::Subscriber map_sub_; + ros::Subscriber laser_sub_; + ros::Subscriber trackbounds_sub_; + ros::Subscriber gb_sub_; + + // ROS Publishers + ros::Publisher debug_lidar_pub_; + ros::Publisher alignment_score_pub_; + ros::Publisher alignment_textmrk_pub_; + + // ROS tf listener + tf::TransformListener tf_listener_; + + // Parameters + bool debug_flag_; + int downsample_factor_; + double threshold_; + int frequency_; + + // Data + nav_msgs::OccupancyGrid map_; + sensor_msgs::LaserScan scan_; + visualization_msgs::MarkerArray trackbounds_; + f110_msgs::WpntArray glb_wpnts_; + + // Misc + ros::Rate rate_; + bool first_visualization_; + double x_viz_; + double y_viz_; + bool scan_initialized_; + bool trackbounds_initialized_; +}; + +#endif // LASER_MAP_OVERLAP_CHECKER_H diff --git a/f110_utils/nodes/lap_analyser/launch/data_analyser.launch b/f110_utils/nodes/lap_analyser/launch/data_analyser.launch new file mode 100644 index 0000000..9dc027b --- /dev/null +++ b/f110_utils/nodes/lap_analyser/launch/data_analyser.launch @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/launch/data_plotter.launch b/f110_utils/nodes/lap_analyser/launch/data_plotter.launch new file mode 100644 index 0000000..07c4dc6 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/launch/data_plotter.launch @@ -0,0 +1,12 @@ + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/launch/lap_analyser.launch b/f110_utils/nodes/lap_analyser/launch/lap_analyser.launch new file mode 100644 index 0000000..869dee5 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/launch/lap_analyser.launch @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/launch/longitudinal_analyser.launch b/f110_utils/nodes/lap_analyser/launch/longitudinal_analyser.launch new file mode 100644 index 0000000..e218282 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/launch/longitudinal_analyser.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/f110_utils/nodes/lap_analyser/package.xml b/f110_utils/nodes/lap_analyser/package.xml new file mode 100644 index 0000000..4b7e5fc --- /dev/null +++ b/f110_utils/nodes/lap_analyser/package.xml @@ -0,0 +1,32 @@ + + + lap_analyser + 0.0.0 + The lap_analyser package + + Edoardo Ghignone + + TODO + + catkin + pcl_ros + pcl_ros + libpcl-all-dev + libpcl-all + + + geometry_msgs + rospy + roscpp + f110_msgs + std_msgs + tf + tf_conversions + visualization_msgs + + + + + + + diff --git a/f110_utils/nodes/lap_analyser/setup.py b/f110_utils/nodes/lap_analyser/setup.py new file mode 100644 index 0000000..57e1418 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['lap_analyser'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/ScanAlignAnalyzer.cpp b/f110_utils/nodes/lap_analyser/src/lap_analyser/ScanAlignAnalyzer.cpp new file mode 100644 index 0000000..6aed6b9 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/ScanAlignAnalyzer.cpp @@ -0,0 +1,289 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class LaserMapOverlapChecker { +private: + ros::NodeHandle nh_; + ros::Subscriber map_sub_, laser_sub_, trackbounds_sub_, gb_sub_; + ros::Publisher debug_lidar_pub_, alignment_score_pub_, alignment_textmrk_pub_; + tf::TransformListener tf_listener_; + nav_msgs::OccupancyGrid map_; + visualization_msgs::MarkerArray trackbounds_; + geometry_msgs::Point start_pos_; + sensor_msgs::LaserScan scan_; + bool debug_flag_; + int downsample_factor_; + double threshold_; + int frequency_; + bool scan_initialized_; + bool trackbounds_initialized_; + bool start_pos_initialized_; + +public: + LaserMapOverlapChecker() : nh_("~") { + // Initialize parameters + nh_.param("debug", debug_flag_, true); + nh_.param("downsample_factor", downsample_factor_, 20); + nh_.param("threshold", threshold_, 0.1); + nh_.param("frequency", frequency_, 5); + + // Subscribers + map_sub_ = nh_.subscribe("/map", 10, &LaserMapOverlapChecker::mapCallback, this); + laser_sub_ = nh_.subscribe("/scan", 10, &LaserMapOverlapChecker::laserCallback, this); + trackbounds_sub_ = nh_.subscribe("/trackbounds/markers", 10, &LaserMapOverlapChecker::trackboundsCallback, this); + gb_sub_ = nh_.subscribe("/global_waypoints", 10, &LaserMapOverlapChecker::glbWpntsCallback, this); + + // Publishers + debug_lidar_pub_ = nh_.advertise("/scanalign/debug_lidar", 1); + alignment_score_pub_ = nh_.advertise("/scanalign/alignment_score", 1); + alignment_textmrk_pub_ = nh_.advertise("/scanalign/alignment_textmrk", 1); + + //misc + scan_initialized_ = false; + trackbounds_initialized_ = false; + start_pos_initialized_ = false; + + // Main loop + loop(); + } + + void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg) { + map_ = *msg; + } + + void laserCallback(const sensor_msgs::LaserScan::ConstPtr& msg) { + scan_ = *msg; + scan_initialized_ = true; + } + + void trackboundsCallback(const visualization_msgs::MarkerArray::ConstPtr& msg) { + trackbounds_ = *msg; + trackbounds_initialized_ = true; + } + + void glbWpntsCallback(const f110_msgs::WpntArray::ConstPtr& msg) { + std::vector glb_wpnts = msg->wpnts; + if (!start_pos_initialized_) { + geometry_msgs::Point p0; + p0.x = glb_wpnts[0].x_m; + p0.y = glb_wpnts[0].y_m; + + geometry_msgs::Point p1; + p1.x = glb_wpnts[1].x_m; + p1.y = glb_wpnts[1].y_m; + + // Compute a vector from p0 to p1 + double dx = p1.x - p0.x; + double dy = p1.y - p0.y; + + // Compute a normal vector, rotated 90 degrees counter-clockwise + double nx = -dy; + double ny = dx; + + // Normalize the normal vector + double norm = std::sqrt(nx*nx + ny*ny); + nx /= norm; + ny /= norm; + + // Compute the position of the text marker, 1.5 units to the left of the first waypoint + start_pos_.x = p0.x + 1.5 * nx; + start_pos_.y = p0.y + 1.5 * ny; + start_pos_.z = 0.0; + start_pos_initialized_ = true; + } + else{ + // Do nothing + } + } + + + //Main Loop + void loop() { + ROS_INFO("[Scan Analyzer] Starting scan alignment analyzer"); + ros::Rate rate(frequency_); + while (ros::ok()) { + //measure time for loop + //ros::Time start = ros::Time::now(); + + if (scan_initialized_ && trackbounds_initialized_) { + Eigen::MatrixXd xyz_mf = laser2mapConversion(scan_); + double alignment = computeScanAlignment(xyz_mf, trackbounds_); + + //ROS_INFO("Alignment score: %f", alignment); + std_msgs::Float32 alignment_msg; + alignment_msg.data = alignment; + alignment_score_pub_.publish(alignment_msg); + + //Publish the marker + if (start_pos_initialized_){ + publishAlignmentScoreText(alignment); + } + + // Publish the debug markers if wanted + if (debug_flag_) { + publishDebugLidarPoints(xyz_mf, scan_.header.stamp); + } + } + else{ + ROS_INFO("[Scan Analyzer] Scan alignment analyzer not initialized"); + } + + //measure time for loop + // ros::Time end = ros::Time::now(); + // ros::Duration elapsed = end - start; + // float frequency = 1.0 / elapsed.toSec(); + // ROS_INFO("[Scan Analyzer] Loop time: %f, Possible Frequency: %f", elapsed.toSec(), frequency); + + ros::spinOnce(); + rate.sleep(); + } + } + + Eigen::MatrixXd laser2mapConversion(const sensor_msgs::LaserScan& laser) { + tf::StampedTransform transform; + try { + tf_listener_.lookupTransform("/map", "/laser", ros::Time(0), transform); + } catch (tf::TransformException& ex) { + ROS_ERROR("%s", ex.what()); + return Eigen::MatrixXd(); // Return an empty matrix + } + + Eigen::Affine3d T; + tf::transformTFToEigen(transform, T); + + // Parameters for Gaussian distribution + const int num_points_to_select = laser.ranges.size() / downsample_factor_; + int middle_index = laser.ranges.size() / 2; + double std_dev = 0.68 * num_points_to_select; // Standard deviation for the normal distribution + + // Random engine and normal distribution + std::default_random_engine generator; + std::normal_distribution distribution(middle_index, std_dev); + + std::vector valid_ranges; + std::vector valid_angles; + + for (int i = 0; i < num_points_to_select; ++i) { + int index = static_cast(distribution(generator)); + + // Ensure index is within valid bounds + index = std::max(0, std::min(static_cast(laser.ranges.size()) - 1, index)); + + if (laser.ranges[index] > 0.1) { // Filtering out ranges that are under 0.1 meters + valid_ranges.push_back(laser.ranges[index]); + valid_angles.push_back(laser.angle_min + index * laser.angle_increment); + } + } + + // Convert laser polar coordinates to Cartesian + Eigen::MatrixXd cartesian_points(4, valid_ranges.size()); // 4xN matrix + for (size_t i = 0; i < valid_ranges.size(); ++i) { + double angle = valid_angles[i]; + cartesian_points(0, i) = valid_ranges[i] * cos(angle); // x-coordinate + cartesian_points(1, i) = valid_ranges[i] * sin(angle); // y-coordinate + cartesian_points(2, i) = 0.0; // z-coordinate + cartesian_points(3, i) = 1.0; // homogeneous coordinate + } + + // Apply the transformation + Eigen::MatrixXd transformed_points = T.matrix() * cartesian_points; + return transformed_points.topRows(3); // Return only the x, y, z coordinates + } + + double computeScanAlignment(const Eigen::MatrixXd& scan_in_map, const visualization_msgs::MarkerArray& trackbounds) { + Eigen::MatrixXd boundary_positions(trackbounds.markers.size(), 3); + for (size_t i = 0; i < trackbounds.markers.size(); ++i) { + boundary_positions(i, 0) = trackbounds.markers[i].pose.position.x; + boundary_positions(i, 1) = trackbounds.markers[i].pose.position.y; + boundary_positions(i, 2) = 0.0; + } + + int align_cnt = 0; + double threshold_squared = threshold_ * threshold_; + + for (int i = 0; i < scan_in_map.cols(); ++i) { + Eigen::VectorXd scan_point = scan_in_map.col(i); + for (int j = 0; j < boundary_positions.rows(); ++j) { + Eigen::VectorXd boundary_point = boundary_positions.row(j); + double distance_squared = (scan_point - boundary_point).squaredNorm(); + + if (distance_squared < threshold_squared) { + align_cnt++; + break; + } + } + } + + double align_score = static_cast(align_cnt) / (1080.0/downsample_factor_) * 100.0; + return align_score; + } + + // MISC Functions + void publishDebugLidarPoints(const Eigen::MatrixXd& points, const ros::Time& timestamp) { + visualization_msgs::MarkerArray markers; + for (int i = 0; i < points.cols(); ++i) { + visualization_msgs::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = timestamp; + marker.id = i; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = points(0, i); + marker.pose.position.y = points(1, i); + marker.pose.position.z = points(2, i); + marker.pose.orientation.w = 1.0; + marker.scale.x = 0.1; + marker.scale.y = 0.1; + marker.scale.z = 0.1; + marker.color.a = 1.0; + marker.color.r = 0.0; + marker.color.g = 1.0; + marker.color.b = 0.6; + markers.markers.push_back(marker); + } + debug_lidar_pub_.publish(markers); +} + + void publishAlignmentScoreText(double score) { + visualization_msgs::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = ros::Time::now(); + marker.id = 0; + marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = start_pos_.x; + marker.pose.position.y = start_pos_.y; + marker.pose.position.z = 1.0; + marker.pose.orientation.w = 1.0; + marker.scale.z = 0.5; // Text size + marker.color.a = 1.0; + marker.color.r = 0.5; + marker.color.g = 0.5; + marker.color.b = 0.5; + + // Create a string stream and use fixed and setprecision to format the score + std::ostringstream stream; + stream << std::fixed << std::setprecision(2) << score; + marker.text = "Scan Alignment Score: " + stream.str() + " [%]"; + + alignment_textmrk_pub_.publish(marker); + } + + +}; + +int main(int argc, char** argv) { + ros::init(argc, argv, "scan_alignment_analyzer"); + LaserMapOverlapChecker checker; + return 0; +} diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/__init__.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/data_analyser.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/data_analyser.py new file mode 100755 index 0000000..7677ed9 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/data_analyser.py @@ -0,0 +1,22 @@ +#!/usr/bin/env python3 + +import rospy +from lap_analyser import LapAnalyser +from vel_analyser import VelAnalyser + +if __name__ == "__main__": + """ + ROS node that modularly handles the data anlysis + """ + + rospy.init_node("data_analyser") + + # add new data analysers here + lap_analyser = LapAnalyser() + vel_analyser = VelAnalyser() + # TODO actually remove this weird thing and just do separate launch files that can be joined together + + rate = rospy.Rate(0.1) + while not rospy.is_shutdown(): + vel_analyser.loop() + rate.sleep() \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/lap_analyser.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/lap_analyser.py new file mode 100755 index 0000000..aedec9e --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/lap_analyser.py @@ -0,0 +1,239 @@ +#!/usr/bin/env python3 + +import rospy +from f110_msgs.msg import LapData, WpntArray +from std_msgs.msg import Float32, Empty +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Pose +from visualization_msgs.msg import Marker + +from collections import deque +import numpy as np + +import subprocess # save map +from rospkg import RosPack +from datetime import datetime +import os + +class LapAnalyser: + def __init__(self): + + # Wait for state machine to start to figure out where to place the visualization message + self.vis_pos = Pose + msg: Marker = rospy.wait_for_message("/state_marker", Marker, timeout=None) + if msg is not None: + self.vis_pos = msg.pose + self.vis_pos.position.z += 1.5 # appear on top of the state marker + rospy.loginfo(f"LapAnalyser will be centered at {self.vis_pos.position.x}, {self.vis_pos.position.y}, {self.vis_pos.position.z}") + + # stuff for min distance to track boundary + self.wp_flag = False + self.car_distance_to_boundary = [] + self.global_lateral_waypoints = None + rospy.loginfo("[LapAnalyser] Waiting for /global_waypoints topic") + rospy.wait_for_message('/global_waypoints', WpntArray) + rospy.loginfo("[LapAnalyser] Ready to go") + rospy.Subscriber('/global_waypoints', WpntArray, self.waypoints_cb) # TODO maybe add wait for topic/timeout? + + while self.global_lateral_waypoints is None: + print("[Lap Analyzer] Waiting for global lateral waypoints") + rospy.sleep(0.1) + + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.frenet_odom_cb) # car odom in frenet frame + + rospy.Subscriber('/lap_analyser/start', Empty, self.start_log_cb) + + # publishes once when a lap is completed + self.lap_data_pub = rospy.Publisher('lap_data', LapData, queue_size=10) + self.min_car_distance_to_boundary_pub = rospy.Publisher('min_car_distance_to_boundary', Float32, queue_size=10) # publishes every time a new car position is received + self.lap_start_time = rospy.Time.now() + self.last_s = 0 + self.accumulated_error = 0 + self.max_error = 0 + self.n_datapoints = 0 + self.lap_count = -1 + + self.NUM_LAPS_ANALYSED = 10 + '''The number of laps to analyse and compute statistics for''' + self.lap_time_acc = deque(maxlen=self.NUM_LAPS_ANALYSED) + self.lat_err_acc = deque(maxlen=self.NUM_LAPS_ANALYSED) + self.max_lat_err_acc = deque(maxlen=self.NUM_LAPS_ANALYSED) + + self.LOC_METHOD = rospy.get_param("~loc_algo", default="slam") + + # Publish stuff to RViz + self.lap_data_vis = rospy.Publisher('lap_data_vis', Marker, queue_size=5) + + # Open up logfile + self.logfile_name = f"lap_analyzer_{datetime.now().strftime('%d%m_%H%M')}.txt" + self.logfile_dir = os.path.join(RosPack().get_path('lap_analyser'), 'data', self.logfile_name) + with open(self.logfile_dir, 'w') as f: + f.write(f"Laps done on " + datetime.now().strftime('%d %b %H:%M:%S') + '\n') + + + def waypoints_cb(self, data: WpntArray): + """ + Callback function of /global_waypoints subscriber. + + Parameters + ---------- + data + Data received from /global_waypoints topic + """ + if not self.wp_flag: + # Store original waypoint array + self.global_lateral_waypoints = np.array([ + [w.s_m, w.d_right, w.d_left] for w in data.wpnts + ]) + self.wp_flag = True + else: + pass + + def frenet_odom_cb(self, msg): + if not self.wp_flag: + return + + current_s = msg.pose.pose.position.x + current_d = msg.pose.pose.position.y + if self.check_for_finish_line_pass(current_s): + if (self.lap_count == -1): + self.lap_start_time = rospy.Time.now() + rospy.loginfo("LapAnalyser: started first lap") + self.lap_count = 0 + else: + self.lap_count += 1 + self.publish_lap_info() + self.publish_min_distance() + self.car_distance_to_boundary = [] + self.lap_start_time = rospy.Time.now() + self.max_error = abs(current_d) + self.accumulated_error = abs(current_d) + self.n_datapoints = 1 + + # Compute and publish statistics. Perhaps publish to a file? + if self.lap_count > 0 and self.lap_count % self.NUM_LAPS_ANALYSED == 0: + lap_time_str = f"Lap time over the past {self.NUM_LAPS_ANALYSED} laps: Mean: {np.mean(self.lap_time_acc):.4f}, Std: {np.std(self.lap_time_acc):.4f}" + avg_err_str = f"Avg Lat Error over the past {self.NUM_LAPS_ANALYSED} laps: Mean: {np.mean(self.lat_err_acc):.4f}, Std: {np.std(self.lat_err_acc):.4f}" + max_err_str = f"Max Lat Error over the past {self.NUM_LAPS_ANALYSED} laps: Mean: {np.mean(self.max_lat_err_acc):.4f}, Std: {np.std(self.max_lat_err_acc):.4f}" + rospy.logwarn(lap_time_str) + rospy.logwarn(avg_err_str) + rospy.logwarn(max_err_str) + + with open(self.logfile_dir, 'a') as f: + f.write(lap_time_str+'\n') + f.write(avg_err_str+'\n') + f.write(max_err_str+'\n') + + # // This was to check for map shift during SE/Loc/Sensor experiments. Not needed during the race. + # if self.LOC_METHOD == "slam": + # # Create map folder + # self.map_name = f"map_{datetime.now().strftime('%d%m_%H%M')}" + # self.map_dir = os.path.join(RosPack().get_path('lap_analyser'), 'maps', self.map_name) + # os.makedirs(self.map_dir) + # rospy.loginfo(f"LapAnalyser: Saving map to {self.map_dir}") + + # subprocess.run(f"rosrun map_server map_saver -f {self.map_name} map:=/map_new", cwd=f"{self.map_dir}", shell=True) + else: + self.accumulated_error += abs(current_d) + self.n_datapoints += 1 + if self.max_error < abs(current_d): + self.max_error = abs(current_d) + self.last_s = current_s + + # search for closest s value: s values of global waypoints do not match the s values of car position exactly + s_ref_line_values = np.array(self.global_lateral_waypoints)[:, 0] + index_of_interest = np.argmin(np.abs(s_ref_line_values - current_s)) # index where s car state value is closest to s ref line + + d_right = self.global_lateral_waypoints[index_of_interest, 1] # [w.s_m, w.d_right, w.d_left] + d_left = self.global_lateral_waypoints[index_of_interest, 2] + + dist_to_bound = self.get_distance_to_boundary(current_d, d_left, d_right) + self.car_distance_to_boundary.append(dist_to_bound) + + def start_log_cb(self, _): + '''Start logging. Reset all metrics.''' + rospy.loginfo( + f"LapAnalyser: Start logging statistics for {self.NUM_LAPS_ANALYSED} laps.") + self.accumulated_error = 0 + self.max_error = 0 + self.lap_count = -1 + self.n_datapoints = 0 + + def check_for_finish_line_pass(self, current_s): + # detect wrapping of the track, should happen exactly once per round + if (self.last_s - current_s) > 1.0: + return True + else: + return False + + # ? Future extension: would be cool to check for sector times... + + def publish_lap_info(self): + msg = LapData() + msg.lap_time = (rospy.Time.now() - self.lap_start_time).to_sec() + rospy.loginfo( + f"LapAnalyser: completed lap #{self.lap_count} in {msg.lap_time}") + + with open(self.logfile_dir, 'a') as f: + f.write(f"Lap #{self.lap_count}: {msg.lap_time:.4f}" + '\n') + + msg.header.stamp = rospy.Time.now() + msg.lap_count = self.lap_count + msg.average_lateral_error_to_global_waypoints = self.accumulated_error / self.n_datapoints + msg.max_lateral_error_to_global_waypoints = self.max_error + self.lap_data_pub.publish(msg) + + # append to deques for statistics + self.lap_time_acc.append(msg.lap_time) + self.lat_err_acc.append(msg.average_lateral_error_to_global_waypoints) + self.max_lat_err_acc.append(msg.max_lateral_error_to_global_waypoints) + + mark = Marker() + mark.header.stamp = rospy.Time.now() + mark.header.frame_id = 'map' + mark.id = 0 + mark.ns = 'lap_info' + mark.type = Marker.TEXT_VIEW_FACING + mark.action = Marker.ADD + mark.pose = self.vis_pos + mark.scale.x = 0.0 + mark.scale.y = 0.0 + mark.scale.z = 0.5 # Upper case A + mark.color.a = 1.0 + mark.color.r = 0.2 + mark.color.g = 0.2 + mark.color.b = 0.2 + mark.text = f"Lap {self.lap_count:02d} {msg.lap_time:.3f}s" + self.lap_data_vis.publish(mark) + + def publish_min_distance(self): + self.min_car_distance_to_boundary = np.min(self.car_distance_to_boundary) + self.min_car_distance_to_boundary_pub.publish(self.min_car_distance_to_boundary) + + def get_distance_to_boundary(self, current_d, d_left, d_right): + """ + comment this function + ---------- + Input: + current_d: lateral distance to reference line + d_left: distance from ref. line to left track boundary + d_right: distance from ref. line to right track boundary + Output: + distance: critical distance to track boundary (whichever is smaller, to the right or left) + """ + # calculate distance from car to boundary + car_dist_to_bound_left = d_left - current_d + car_dist_to_bound_right = d_right + current_d + + # select whichever distance is smaller (to the right or left) + if car_dist_to_bound_left > car_dist_to_bound_right: # car is closer to right boundary + return car_dist_to_bound_right + else: + return car_dist_to_bound_left + + +if __name__ == '__main__': + rospy.init_node('lap_analyser') + analyser = LapAnalyser() + while not rospy.is_shutdown(): + rospy.spin() diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/longitudinal_analyser.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/longitudinal_analyser.py new file mode 100755 index 0000000..06d2670 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/longitudinal_analyser.py @@ -0,0 +1,107 @@ +#!/usr/bin/env python3 + +import rospy +from f110_msgs.msg import LapData, PidData +from nav_msgs.msg import Odometry + +class LongAnalyser: + def __init__(self): + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.frenet_odom_cb) # car odom in frenet frame + rospy.Subscriber('/velocity_pid', PidData, self.velocity_cb) + rospy.Subscriber('/trailing/gap_data', PidData, self.trailing_cb) + + + self.trailing_data_pub = rospy.Publisher('/tlap_data/trailing', LapData, queue_size=10) # publishes once when a lap is completed + self.vel_data_pub = rospy.Publisher('/lap_data/vel_ctr', LapData, queue_size=10) # publishes once when a lap is completed + + self.lap_start_time = rospy.Time.now() + self.last_s = 0 + + self.accumulated_vel_error = 0 + self.max_vel_error = 0 + self.vel_datapoints = 0 + + self.accumulated_trailing_error = 0 + self.trailing_datapoints = 0 + self.max_trailing_error = 0 + + self.lap_count = -1 + + + def frenet_odom_cb(self, msg): + current_s = msg.pose.pose.position.x + current_d = msg.pose.pose.position.y + if self.check_for_finish_line_pass(current_s): + if (self.lap_count == -1): + self.lap_start_time = rospy.Time.now() + rospy.loginfo("LapAnalyser: started first lap") + self.lap_count = 0 + else: + self.lap_count += 1 + self.publish_lap_info() + self.lap_start_time = rospy.Time.now() + self.last_s = current_s + + def velocity_cb(self, data: PidData): + error = abs(data.error) + if error > self.max_vel_error: + self.max_vel_error = error + self.vel_datapoints += 1 + self.accumulated_vel_error += error + + def trailing_cb(self, data: PidData): + error = abs(data.error) + if error > self.max_trailing_error: + self.max_trailing_error = error + self.trailing_datapoints += 1 + self.accumulated_trailing_error += error + + def check_for_finish_line_pass(self, current_s): + # detect wrapping of the track, should happen exactly once per round + if (self.last_s - current_s) > 1.0: + return True + else: + return False + + def publish_lap_info(self): + lap_time = (rospy.Time.now() - self.lap_start_time).to_sec() + rospy.loginfo(f"LapAnalyser: completed lap #{self.lap_count} in {lap_time}") + + if self.vel_datapoints != 0: + average_vel_error = self.accumulated_vel_error / self.vel_datapoints + print("Average Velocity Error: ", average_vel_error) + print("Max Velocity Error: ", self.max_vel_error) + + vel_msg = LapData() + vel_msg.header.stamp = rospy.Time.now() + vel_msg.lap_count = self.lap_count + vel_msg.lap_time = lap_time + vel_msg.average_lateral_error_to_global_waypoints = average_vel_error + vel_msg.max_lateral_error_to_global_waypoints = self.max_vel_error + self.vel_data_pub.publish(vel_msg) + + self.vel_datapoints = 0 + self.max_vel_error = 0 + self.accumulated_vel_error = 0 + + if self.trailing_datapoints != 0: + average_trailing_error = self.accumulated_trailing_error / self.trailing_datapoints + print("Average Trailing Error: ", average_trailing_error) + print("Max Trailing Error: ", self.max_trailing_error) + trailing_msg = LapData() + trailing_msg.header.stamp = rospy.Time.now() + trailing_msg.lap_count = self.lap_count + trailing_msg.lap_time = lap_time + trailing_msg.average_lateral_error_to_global_waypoints = average_trailing_error + trailing_msg.max_lateral_error_to_global_waypoints = self.max_trailing_error + self.trailing_data_pub.publish(trailing_msg) + + self.trailing_datapoints = 0 + self.max_trailing_error = 0 + self.accumulated_trailing_error = 0 + +if __name__ == '__main__': + rospy.init_node('longitudinal_analyser') + analyser = LongAnalyser() + while not rospy.is_shutdown(): + rospy.spin() \ No newline at end of file diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/scan_align_analyser.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/scan_align_analyser.py new file mode 100755 index 0000000..0a38523 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/scan_align_analyser.py @@ -0,0 +1,275 @@ +#!/usr/bin/env python3 + +import rospy, tf +import time +from nav_msgs.msg import OccupancyGrid +from visualization_msgs.msg import MarkerArray, Marker +from sensor_msgs.msg import LaserScan +from f110_msgs.msg import WpntArray +from std_msgs.msg import Float32 +import numpy as np + +class LaserMapOverlapChecker: + """ + A node that checks if laser scan points overlap with the Track boundaries. + """ + + def __init__(self): + """ + Constructor for the LaserMapOverlapChecker class. + Initializes the node, subscribers, and class variables. + """ + # Initialize the node + rospy.init_node('laser_map_overlap_checker', anonymous=True) + + # Rosparams + self.debug_flag = rospy.get_param('~debug', default=False) + self.downsample_factor = rospy.get_param('~downsample_factor', default=54) + self.threshold = rospy.get_param('~threshold', default=0.1) + self.frequency = rospy.get_param('~frequency', default=5) + + # Subscriber for the map and laser scan + self.map_sub = rospy.Subscriber('/map', OccupancyGrid, self.map_callback) + self.laser_sub = rospy.Subscriber('/scan', LaserScan, self.laser_callback) + self.trackbounds_sub = rospy.Subscriber('/trackbounds/markers', MarkerArray, self.trackbounds_callback) + self.gb_sub = rospy.Subscriber("/global_waypoints", WpntArray, self.glb_wpnts_cb) # from og wpnts + + # Publishers + self.debug_lidar_pub = rospy.Publisher('/scanalign/debug_lidar', MarkerArray, queue_size=1) + self.alignment_score_pub = rospy.Publisher('/scanalign/alignment_score', Float32, queue_size=1) + self.alignment_textmrk_pub = rospy.Publisher('/scanalign/alignment_textmrk', Marker, queue_size=1) + + # Map data + self.map = None + self.trackbounds = None + self.glb_wpnts = None + + # Laser scan data + self.scan = None + + #misc + self.rate = rospy.Rate(5) # 5 Hz + self.tf_listener = tf.TransformListener() + self.first_visualization = True + self.x_viz = None + self.y_viz = None + + #Keep on going + self.loop() + + def map_callback(self, data): + """ + Callback function for the map topic. + Stores the map data and metadata. + + Args: + - data (OccupancyGrid): The received map. + """ + self.map = data + + def laser_callback(self, data): + """ + Callback function for the laser scan topic. + + Args: + - data (LaserScan): The received laser scan. + """ + self.scan = data + + def trackbounds_callback(self, data): + """ + Callback function for the track bounds topic. + + Args: + - data (MarkerArray): The received track bounds. + """ + self.trackbounds = data + + def glb_wpnts_cb(self, data): + """ + Callback function for the global waypoints topic. + ONLY USED FOR VISUALIZATION OF TEXT MARKER. + + Args: + - data (WpntArray): The received global waypoints. + """ + self.glb_wpnts = data.wpnts[:-1] + + ############END OF CALLBACKS############ + + def compute_scan_alignment(self, scan_in_map, trackbounds: MarkerArray): + """ + Compute the alignment between the laser scan and the map. + Checks if the laser scan points overlap with the map. + + Args: + - scan_in_map (np Array): scan points in map frame. + - trackbounds (Markerarray): MarkerArray of the track boundaries. + """ + + # Extract boundary positions from the MarkerArray + boundary_positions = np.array([[marker.pose.position.x, marker.pose.position.y, marker.pose.position.z] for marker in trackbounds.markers]) + + overlaps = np.zeros(scan_in_map.shape[1], dtype=bool) + + # For each scan point, check if it's close to any boundary marker + for i in range(scan_in_map.shape[1]): + distances = np.linalg.norm(boundary_positions - scan_in_map[:3, i][:, np.newaxis].T, axis=1) + # Check if any distance is less than the 5X marker's radius (assuming all markers have the same scale) + if np.any(distances < self.threshold): + overlaps[i] = True + + # Compute the alignment score in percentage + align_cnt = np.sum(overlaps) + align_score = (align_cnt / (1080/self.downsample_factor)) * 100 + + return align_score + + def laser2map_conversion(self, laser: LaserScan): + # Get Transform between laser and radar + t_laser_map = self.tf_listener.getLatestCommonTime("map", "laser") + trans, quat = self.tf_listener.lookupTransform('/map', '/laser', t_laser_map) + T = np.array(trans) + R = tf.transformations.quaternion_matrix(quat) + + # Filter out ranges that are under 0.1 meters + valid_indices = np.array(laser.ranges) > 0.1 + valid_ranges = np.array(laser.ranges)[valid_indices] + + # Transform laser points to map frame + angles = np.linspace(laser.angle_min, laser.angle_max, len(laser.ranges))[valid_indices] + x_lf = (valid_ranges * np.cos(angles)).flatten() + y_lf = (valid_ranges * np.sin(angles)).flatten() + z_lf = (-T[-1] * np.ones(len(valid_ranges))).flatten() + xyz_lf = np.vstack((x_lf, y_lf, z_lf, np.ones(len(valid_ranges)))) + + # Build homogenous transform from laser to map frame + H_l2m = R + H_l2m[0:3, -1] = T + + # Apply transform to the xyz points s.t. the points are transformed into map frame + xyz_mf = H_l2m @ xyz_lf + + #Downsample the points for compute but in a normal distribution around the middle + # Define parameters + center_index = len(xyz_mf[0]) // 2 + num_samples = int(1080/self.downsample_factor) + std_dev = int(0.68*num_samples) # Standard deviation for the normal distribution + + # Generate random indices based on a normal distribution + indices = np.random.normal(center_index, std_dev, num_samples).astype(int) + + # Clip indices to ensure they are within valid bounds + indices = np.clip(indices, 0, len(xyz_mf[0]) - 1) + + # Sample the array using the generated indices + sampled_xyz_mf = xyz_mf[:, indices] + + return sampled_xyz_mf + + + def loop(self): + """ + Main loop of the node. + """ + rospy.loginfo("[Scan Alignment] Waiting for scan, and track bounds...") + rospy.wait_for_message('/scan', LaserScan) + rospy.wait_for_message('/trackbounds/markers', MarkerArray) + rospy.loginfo("[Scan Alignment] Ready!") + while not rospy.is_shutdown(): + start_time = time.time() + + #sample data + scan = self.scan + tb = self.trackbounds + + #Convert laser scan to map frame + xyz_mf = self.laser2map_conversion(laser=scan) + + #Debug publish laser points in map frame + if self.debug_flag: + self._pub_map_lidarpoints(points=xyz_mf, timestamp=scan.header.stamp) + + #Compute alignment score + alignment = self.compute_scan_alignment(scan_in_map=xyz_mf, trackbounds=tb) + self.alignment_score_pub.publish(alignment) + self._pub_alignscore_txt(score=alignment) + + #print('[Scan Align] Scan alignment score: {} [%]'.format(alignment)) + #print('[Scan Align] Loop time: {} [s], Possible Frequency: {} [Hz]'.format(time.time() - start_time, 1/(time.time() - start_time))) + + self.rate.sleep() + + + #########HELPERS######### + def _pub_map_lidarpoints(self, points: np.ndarray, timestamp: rospy.Time): + # Publish points in radar frame + mrks = MarkerArray() + + # Only use every 1th point + laser = points[:, ::1] + + for i in range(laser.shape[1]): + mrk = Marker() + mrk.header.frame_id = "map" + mrk.header.stamp = timestamp + mrk.id = i + mrk.type = mrk.SPHERE + mrk.action = mrk.ADD + mrk.pose.position.x = laser[0, i] + mrk.pose.position.y = laser[1, i] + mrk.pose.position.z = laser[2, i] + mrk.pose.orientation.w = 1 + mrk.scale.x = 0.1 + mrk.scale.y = 0.1 + mrk.scale.z = 0.1 + mrk.color.a = 1 + mrk.color.r = 0.0 + mrk.color.g = 1 + mrk.color.b = 0.6 + mrks.markers.append(mrk) + self.debug_lidar_pub.publish(mrks) + + def _pub_alignscore_txt(self, score: float): + # Publish alignment score as text marker + if self.first_visualization: + self.first_visualization = False + x0 = self.glb_wpnts[0].x_m + y0 = self.glb_wpnts[0].y_m + x1 = self.glb_wpnts[1].x_m + y1 = self.glb_wpnts[1].y_m + # compute normal vector of 150% length of trackboundary but to the left of the trajectory + xy_norm = ( + -np.array([y1 - y0, x0 - x1]) / np.linalg.norm([y1 - y0, x0 - x1]) * 1.5 * self.glb_wpnts[0].d_left + ) + + self.x_viz = x0 + xy_norm[0] + self.y_viz = y0 + xy_norm[1] + + mrk = Marker() + mrk.header.frame_id = "map" + mrk.header.stamp = rospy.Time.now() + mrk.id = 0 + mrk.type = mrk.TEXT_VIEW_FACING + mrk.action = mrk.ADD + mrk.pose.position.x = self.x_viz + mrk.pose.position.y = self.y_viz + mrk.pose.position.z = 1.0 + mrk.pose.orientation.w = 1 + mrk.scale.x = 0.5 + mrk.scale.y = 0.5 + mrk.scale.z = 0.5 + mrk.color.a = 1 + mrk.color.r = 1 + mrk.color.g = 0 + mrk.color.b = 0 + mrk.text = "Scan Alignment Score: {:.2f} [%]".format(score) + self.alignment_textmrk_pub.publish(mrk) + + + +if __name__ == '__main__': + """ + Main execution point. Instantiates the LaserMapOverlapChecker class. + """ + checker = LaserMapOverlapChecker() diff --git a/f110_utils/nodes/lap_analyser/src/lap_analyser/vel_analyser.py b/f110_utils/nodes/lap_analyser/src/lap_analyser/vel_analyser.py new file mode 100644 index 0000000..3e92e12 --- /dev/null +++ b/f110_utils/nodes/lap_analyser/src/lap_analyser/vel_analyser.py @@ -0,0 +1,88 @@ +#!/usr/bin/env python3 + +import rospy +import numpy as np +from nav_msgs.msg import Odometry +from f110_msgs.msg import WpntArray +from geometry_msgs.msg import Point +from geometry_msgs.msg import Pose +from ackermann_msgs.msg import AckermannDriveStamped +from dynamic_reconfigure.msg import Config + + +class VelAnalyser: + def __init__(self) -> None: + # attributes + self.gb_wpnt_sc = None + self.frenet_odom = None + self.pub_cur_vel_flag = True + self.wheelbase = ( + rospy.get_param("/behavior_controller/l_cg2front") + + rospy.get_param("/behavior_controller/l_cg2rear") + ) + + # subscribers + rospy.Subscriber("/global_waypoints_scaled", WpntArray, self.gb_wpnt_sc_cb) + rospy.Subscriber( + "/dyn_sector_server/parameter_updates", Config, self.dyn_par_cb + ) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.frenet_odom_cb) + rospy.Subscriber( + "/vesc/high_level/ackermann_cmd_mux/input/nav_1", + AckermannDriveStamped, + self.ctrl_cb, + ) + + # publishers + self.vel_traj_pub = rospy.Publisher( + "velocity/trajectory", Point, queue_size=1000 + ) + self.steer_traj_pub = rospy.Publisher( + "steering/trajectory", Point, queue_size=1000 + ) + self.vel_cur_pub = rospy.Publisher("velocity/current", Point, queue_size=10) + self.steer_cur_pub = rospy.Publisher("steering_input", Point, queue_size=10) + + self.dyn_par_cb(None) + + def frenet_odom_cb(self, data: Odometry): + self.frenet_odom = data + + cur_s = self.frenet_odom.pose.pose.position.x + cur_v = self.frenet_odom.twist.twist.linear.x + if np.round(cur_s / 0.05, 1) % 1 == 0.0: # take points at 0.05 m distance + if self.pub_cur_vel_flag: + self.vel_cur_pub.publish(Point(x=cur_s, y=cur_v)) + self.steer_cur_pub.publish(Point(x=cur_s, y=self.steer_input)) + self.pub_cur_vel_flag = False + else: + if not self.pub_cur_vel_flag: + self.pub_cur_vel_flag = True + + def gb_wpnt_sc_cb(self, data: WpntArray): + self.gb_wpnt_sc = data.wpnts + + def dyn_par_cb(self, data: Config): + rospy.wait_for_message("/global_waypoints_scaled", WpntArray) + + rate = rospy.Rate(2000) + for wpnt in self.gb_wpnt_sc: + self.vel_traj_pub.publish(Point(x=wpnt.s_m, y=wpnt.vx_mps)) + self.steer_traj_pub.publish( + Point(x=wpnt.s_m, y=np.arctan(self.wheelbase*wpnt.kappa_radpm)) + ) + rate.sleep() # needed for publishing correctly all the points + + def ctrl_cb(self, data: AckermannDriveStamped): + self.steer_input = data.drive.steering_angle + + def loop(self): + # this is not the loop of the node + # the sleep is only needed to not avoid misses in publishing the messages + rate = rospy.Rate(2000) + for wpnt in self.gb_wpnt_sc: + self.vel_traj_pub.publish(Point(x=wpnt.s_m, y=wpnt.vx_mps)) + self.steer_traj_pub.publish( + Point(x=wpnt.s_m, y=np.arctan(self.wheelbase*wpnt.kappa_radpm)) + ) + rate.sleep() diff --git a/f110_utils/nodes/map_editor/CMakeLists.txt b/f110_utils/nodes/map_editor/CMakeLists.txt new file mode 100644 index 0000000..98856a2 --- /dev/null +++ b/f110_utils/nodes/map_editor/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(map_editor) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + f110_msgs + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# f110_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES map_editor +# CATKIN_DEPENDS f110_msgs rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/map_editor.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/map_editor_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_map_editor.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/map_editor/README.md b/f110_utils/nodes/map_editor/README.md new file mode 100644 index 0000000..2d75a2a --- /dev/null +++ b/f110_utils/nodes/map_editor/README.md @@ -0,0 +1,107 @@ +# Map Editor + + + +## Editing on your local PC +1. Launch mapping **on the car** with: + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=True + ``` + We follow this convention when naming maps, but in principle any reasonable string name without whitespace should work. + + - Replace `PLACE` with the place where the track is, e.g. icra or hangar + - Replace `DATE` with the zero-padded current day, e.g. 2805 if it is the 28th of May + - Replace `VN` with the version of the map, e.g. v0 if it is the first version of the map on that day + + Drive until the map is sufficiently explored (clear trackbounds, no shifts). You can stop anywhere + + Press `y`. This will save a baseline map (png, yaml) and pbstream file **on the car** at the directory `race_stack/f110_utils/nodes/map_editor/maps`. + +2. Copy map **from the car to your PC**: + ```bash + pitX # source ros_master_ip for the relevant remote car + bash stack_master/scripts/download_map.sh $MAP_NAME # fill in map_name accordingly + ``` + Note that `pitX` is an alias for convenience, defined [here](../../../stack_master/checklists/PitUsage.md). + + If you've somehow forgotten what maps there are, calling `download_map.sh` without arguments lists the maps in the map_editor folder **on the car**. + + This downloads the previously-created map folder **from the car to your PC** in the directory `race_stack/f110_utils/nodes/map_editor/maps`. + + You may be prompted to login on the car. To save time, ensure that the [networking setup](../../../stack_master/checklists/networking.md) here is done. + +3. Open up the map **on your PC** and manually edit the `.png` file in GIMP or similar. It **should be overwritten** and not be renamed. + + If `pf_map.png` needs to be edited, do so as well. Remember that `pf_map` **must look like the real track!** This ensures that localization for *SynPF* remains accurate. + +4. Call the map_editor program **on your PC**: + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=False + ``` + + Now a window with the map should be prompted. Inspect that it makes sense. To proceed that window needs to be closed. + + Next the windows should be prompted that let you select the speed and overtaking sectors. + + Note: In the global trajectory window an arrow is appearing that sets the driving direction. If it is not in the intended direction, add the flag `reverse:=True` to the previous used command. + + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=False reverse:=True + ``` + + This command will create the `speed_scaler.yaml`, `ot_sectors.yaml`, and `global_waypoints.json` files. + +5. Copy map with additional information **from your PC to the car**: + ```bash + pitX # source ros_master_ip for the relevant remote car + bash stack_master/scripts/transfer_map.sh $MAP_NAME # fill in map_name accordingly + ``` + This uploads the map folder with the additional metadata **from your PC to the car** in the directory `race_stack/stack_master/maps`. + + This will also copy over the speed scaler and overtaking sector YAML files, and perform an auto-catkin build. + +6. Congrats, you should be done. Verify by running base_system **on the car** with the new map. + +## Editing on the car + +1. Launch mapping **on the car** with: + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=True + ``` + For `PLACE_DATE_VN`, follow the same naming conventions as above. Mapping also follows the same steps. + +2. Open up the map and manually edit the `.png` file in GIMP or similar. It **should be overwritten** and not be renamed. + + You can still run GIMP **locally** and access the file using `sftp://race_crew@car_IP` with Files in Ubuntu. + + If `pf_map.png` needs to be edited, do so as well. Remember that `pf_map` **must look like the real track!** + +3. Call the map_editor program **on the car**: + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=False + ``` + + Now a window with the map should be prompted. Inspect that it makes sense. To proceed that window needs to be closed. + + Next the windows should be prompted that let you select the speed and overtaking sectors. + + Note: In the global trajectory window an arrow is appearing that sets the driving direction. If it is not in the intended direction, add the flag `reverse:=True` to the previous used command. + + ```bash + roslaunch map_editor map_editor.launch map_name:=PLACE_DATE_VN map_editor_mapping:=False reverse:=True + ``` + + This command will create the `speed_scaler.yaml`, `ot_sectors.yaml`, and `global_waypoints.json` files. + +4. Copy map with additional information **from the `map_editor` folder to the `stack_master` folder**: + ```bash + bash stack_master/scripts/transfer_map.sh $MAP_NAME # fill in map_name accordingly + ``` + This transfers the map folder with the additional metadata **from the `map_editor` folder to the `stack_master` folder** in the directory `race_stack/stack_master/maps`. + + This will also copy over the speed scaler and overtaking sector YAML files, and perform an auto-catkin build. + +5. Congrats, you should be done. Verify by running base_system **on the car** with the new map. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/map_editor/launch/map_editor.launch b/f110_utils/nodes/map_editor/launch/map_editor.launch new file mode 100644 index 0000000..74cbda7 --- /dev/null +++ b/f110_utils/nodes/map_editor/launch/map_editor.launch @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/map_editor/maps/hangar/global_waypoints.json b/f110_utils/nodes/map_editor/maps/hangar/global_waypoints.json new file mode 100644 index 0000000..1f989be --- /dev/null +++ b/f110_utils/nodes/map_editor/maps/hangar/global_waypoints.json @@ -0,0 +1 @@ +{"map_info_str": {"data": "IQP estimated lap time: 6.8903s; IQP maximum speed: 10.0718m/s; SP estimated lap time: 7.1099s; SP maximum speed: 9.7986m/s; "}, "centerline_markers": {"markers": 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100644 index 0000000..4564993 --- /dev/null +++ b/f110_utils/nodes/map_editor/maps/hangar/hangar.yaml @@ -0,0 +1,9 @@ +free_thresh: 0.196 +image: hangar.png +negate: 0 +occupied_thresh: 0.65 +origin: +- -14.471603393554688 +- -27.434683227539065 +- 0 +resolution: 0.05000000074505806 diff --git a/f110_utils/nodes/map_editor/maps/hangar/ot_sectors.yaml b/f110_utils/nodes/map_editor/maps/hangar/ot_sectors.yaml new file mode 100644 index 0000000..8696136 --- /dev/null +++ b/f110_utils/nodes/map_editor/maps/hangar/ot_sectors.yaml @@ -0,0 +1,12 @@ +n_sectors: 2 +yeet_factor: 1.25 +spline_len: 30 +ot_sector_begin: 0.5 +Overtaking_sector0: + start: 0 + end: 245 + ot_flag: false +Overtaking_sector1: + start: 246 + end: 396 + ot_flag: false diff --git a/f110_utils/nodes/map_editor/maps/hangar/speed_scaling.yaml b/f110_utils/nodes/map_editor/maps/hangar/speed_scaling.yaml new file mode 100644 index 0000000..460d8c0 --- /dev/null +++ b/f110_utils/nodes/map_editor/maps/hangar/speed_scaling.yaml @@ -0,0 +1,8 @@ +global_limit: 0.5 +n_sectors: 1 +Sector0: + start: 0 + end: 396 + scaling: 0.5 + only_FTG: false + no_FTG: false diff --git a/f110_utils/nodes/map_editor/media/workflow.jpg b/f110_utils/nodes/map_editor/media/workflow.jpg new file mode 100644 index 0000000..6bf6dd0 Binary files /dev/null and b/f110_utils/nodes/map_editor/media/workflow.jpg differ diff --git a/f110_utils/nodes/map_editor/package.xml b/f110_utils/nodes/map_editor/package.xml new file mode 100644 index 0000000..d225495 --- /dev/null +++ b/f110_utils/nodes/map_editor/package.xml @@ -0,0 +1,21 @@ + + + map_editor + 0.0.0 + The map_editor package + + Tianyi Lim + MIT + + catkin + f110_msgs + rospy + std_msgs + f110_msgs + rospy + std_msgs + f110_msgs + rospy + std_msgs + + diff --git a/f110_utils/nodes/map_editor/rviz/editor.rviz b/f110_utils/nodes/map_editor/rviz/editor.rviz new file mode 100644 index 0000000..d3a14bf --- /dev/null +++ b/f110_utils/nodes/map_editor/rviz/editor.rviz @@ -0,0 +1,225 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /MarkerArray1 + - /MarkerArray2 + - /MarkerArray3 + Splitter Ratio: 0.5 + Tree Height: 746 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Pose + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /car_state/pose + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 52; 101; 164 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /car_state/path + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /trackbounds/markers + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints/markers + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints/shortest_path/markers + Name: MarkerArray + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 18.108306884765625 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 1.6443626880645752 + Y: 4.077054977416992 + Z: -1.5395981073379517 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: + Yaw: 6.275399684906006 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1043 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1848 + X: 72 + Y: 0 diff --git a/f110_utils/nodes/obstacle_publisher/CMakeLists.txt b/f110_utils/nodes/obstacle_publisher/CMakeLists.txt new file mode 100644 index 0000000..ac44b0b --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.0.2) +project(obstacle_publisher) + +## Find catkin macros and libraries +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + rospy + std_msgs + f110_msgs + dynamic_reconfigure +) + +## Use this to call setup.py +catkin_python_setup() + +## Generate dynamic reconfigure parameters in the 'cfg' folder +generate_dynamic_reconfigure_options( + cfg/dyn_obs_publisher.cfg +) + +################################### +## catkin specific configuration ## +################################### +catkin_package( + CATKIN_DEPENDS geometry_msgs rospy std_msgs f110_msgs dynamic_reconfigure +) + +########### +## Build ## +########### + +include_directories( + ${catkin_INCLUDE_DIRS} +) diff --git a/f110_utils/nodes/obstacle_publisher/README.md b/f110_utils/nodes/obstacle_publisher/README.md new file mode 100644 index 0000000..b611bb3 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/README.md @@ -0,0 +1,75 @@ +# Obstacle Publisher +This package currently publishes a dummy dynamic obstacle, in the shape of a ball, that can run at different speed profiles on different racelines. + +It can be launched with the following command: +``` +roslaunch obstacle_publisher obstacle_publisher.launch +``` +## Parameters +The following parameters are currently available fir the `launch` file: +- `speed`: select the speed, in m/s, of the dummy obstacle. Ideal values are in the range [0, 20]. +- `speed_type`: select the type of speed profile to follor. Available options are: + - `const` for a constant speed of `speed` + - `raceline` to take the speed of the global waypoints scaled down by the parameter `speed_scaler` + - `sine` speed profile with the formula `speed` $+ 3 * sin(0.3 * 2 \pi t)$ + - `step` stand still for 2.5s then drive with velocity = `speed` for 2.5s +- `trajectory`: select the trajectory among the available ones. Currently the available trajectories are `centerline/min_curv/shortest_path`. In the future we are planning to integrate the `min_time` trajectory too. +- `start_s`: select the initial starting coordinate along the `s` Frenet coordinate. + +## Examples +- Obstacle with global trajectory speed * 0.5: `roslaunch obstacle_publisher obstacle_publisher.launch speed_type:=raceline speed_scaler:=0.5` +- Obstacle with sine speed arount $3m/s$: `roslaunch obstacle_publisher obstacle_publisher.launch speed_type:=sine speed:=3` + + +## TODOs: +- integrate `min_time` trajectory +- integrate `start_d` too + +## Video +Some example video +![dummy_obs_mul_traj](/uploads/997dad7513b8b72ac7f5f0b369e43c91/dummy_obs_mul_traj.m4v) + + +# Obstacle Collision Detector +This package is used to detect collisions between the ego vehicle and the obstacles. Detection logic is based on the Secret Sauce. + +To launch: +`rosrun obstacle_publisher collision_detector.py` + +Inputs: +``` +rospy.Subscriber("/obstacles", ObstacleArray, self.od_cb) +rospy.Subscriber("/car_state/odom_frenet", Odometry, self.odom_cb) +``` + +Outputs: +``` +# True if collision detected, else False +self.col_pub = rospy.Publisher("/opponent_collision", Bool, queue_size=10) +# Minimal distance to an obstacle in Float32 +self.opp_dist_pub = rospy.Publisher("/opponent_dist", Float32, queue_size=10) +``` + +Secret Sauce: +``` +def collision_check(self, obs_arr: ObstacleArray, car_odom: Odometry): + dists = [69.69] + for obs in obs_arr.obstacles: + car_s = car_odom.pose.pose.position.x + car_d = car_odom.pose.pose.position.y + + od_s = obs.s_center + od_d = obs.d_center + + # check distance to obstacle + dist = ((car_s - od_s)**2 + (car_d - od_d)**2)**0.5 + dists.append(dist) + + if abs(car_s - od_s) < 0.25 and abs(car_d - od_d) < 0.15: + return True, dist + # no collision + return False, min(dists) +``` + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/obstacle_publisher/cfg/__init__.py b/f110_utils/nodes/obstacle_publisher/cfg/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/obstacle_publisher/cfg/dyn_obs_publisher.cfg b/f110_utils/nodes/obstacle_publisher/cfg/dyn_obs_publisher.cfg new file mode 100755 index 0000000..e8acf94 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/cfg/dyn_obs_publisher.cfg @@ -0,0 +1,17 @@ +#!/usr/bin/env python3 +PACKAGE = "obstacle_publisher" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('obstacle_publisher') + + +gen = ParameterGenerator() +gen.add("speed_scaler", double_t, 0, "Speed of opponent: Global wpnts times speed scaler", 0.0, 0.1, 1.25) +gen.add("ampl_sin1", double_t, 0, "Amplitude of frist sinus", 0.0, 0.1, 1.0) +gen.add("ampl_sin2", double_t, 0, "Amplitude of second sinus", 0.0, 0.1, 1.0) +gen.add("phase_sin1", double_t, 0, "Phase of first sinus", 4, 0.5, 8) +gen.add("phase_sin2", double_t, 0, "Phase of second sinus", 3, 0.5, 8) + +exit(gen.generate(PACKAGE, "obs_dynaimc_publisher", "dyn_obs_publisher")) \ No newline at end of file diff --git a/f110_utils/nodes/obstacle_publisher/launch/obstacle_publisher.launch b/f110_utils/nodes/obstacle_publisher/launch/obstacle_publisher.launch new file mode 100644 index 0000000..22c29c0 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/launch/obstacle_publisher.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/obstacle_publisher/package.xml b/f110_utils/nodes/obstacle_publisher/package.xml new file mode 100644 index 0000000..75b0936 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/package.xml @@ -0,0 +1,73 @@ + + + obstacle_publisher + 0.0.0 + The obstacle_publisher package + + + + + Jonathan Becker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +catkin +geometry_msgs +f110_msgs +roscpp +rospy +std_msgs +dynamic_reconfigure +roscpp +rospy +std_msgs +dynamic_reconfigure +roscpp +rospy +std_msgs +dynamic_reconfigure + + + + + + + + diff --git a/f110_utils/nodes/obstacle_publisher/setup.py b/f110_utils/nodes/obstacle_publisher/setup.py new file mode 100644 index 0000000..746c3c4 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['obstacle_publisher'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/f110_utils/nodes/obstacle_publisher/src/Testing.py b/f110_utils/nodes/obstacle_publisher/src/Testing.py new file mode 100644 index 0000000..9e2e11f --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/src/Testing.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python3 +from typing import List + +import numpy as np +import rospy +from dynamic_reconfigure.msg import Config +from f110_msgs.msg import Obstacle, ObstacleArray, OTWpntArray, Wpnt, WpntArray, OpponentTrajectory +from visualization_msgs.msg import Marker, MarkerArray +from ps_planner.msg import OTSection, OTSections +from f110_msgs.msg import LapData +from std_msgs.msg import String + +class Overtaking_Tester(): + """ This class is used to test the overtaking algorithms. It launches the the obstacle publisher and collision detector nodes, + and continously listens to the collision message. For every setting of speed scaler and spawn position it generates an entry in a csv file. Additionally, the csv file + contins the information if the ego car crashed into the opponent car or not, the track, boundaries and if the opponent car was overtaken or not. + Every setting is run three times. The csv file is saved in the same directory as this file. The name of the file is the ot planer name, map name, solver name, and the date and time. + The ego car has 7 laps to catch up to the opponent car and switch into trailing. After the first switch into trailing the ego car has 3 laps to overtake the opponent car. + """ + def __init__(self) -> None: + rospy.init_node('ot_testing', anonymous=True) + looprate = 0.1 + self.rate = rospy.Rate(looprate) + + # Parameters + self.current_lap = 0 + self.last_free_lab = 0 + self.first_lap = 0 + self.no_trailing = True + + + + # Subscribers + rospy.Subscriber("/lap_data", LapData, self.lap_data_cb) + rospy.Subscriber("/state_machine", String, self.state_cb) + + ### Callbacks ### + def lap_data_cb(self, data: LapData): + self.current_lap = data.lap_count + if self.no_trailing == True: + self.last_free_lab = data.lap_count + self.no_trailing = True + + def state_cb(self, data: String): + if data.data == "TRAILING" or data.data == "OVERTAKING": + self.no_trailing = False5 diff --git a/f110_utils/nodes/obstacle_publisher/src/__init__.py b/f110_utils/nodes/obstacle_publisher/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/obstacle_publisher/src/collision_detector.py b/f110_utils/nodes/obstacle_publisher/src/collision_detector.py new file mode 100755 index 0000000..333d494 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/src/collision_detector.py @@ -0,0 +1,134 @@ +#!/usr/bin/env python3 +import numpy as np +import rospy +from std_msgs.msg import Bool, Float32 +from nav_msgs.msg import Odometry +from f110_msgs.msg import ObstacleArray, WpntArray +from visualization_msgs.msg import Marker, MarkerArray +from tf.transformations import quaternion_from_euler + +class OdCollisionDetector: + def __init__(self): + rospy.Subscriber("/perception/obstacles", ObstacleArray, self.od_cb) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.odom_cb) + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + self.col_pub = rospy.Publisher("/opponent_collision", Bool, queue_size=10) + self.opp_dist_pub = rospy.Publisher("/opponent_dist", Float32, queue_size=10) + self.coll_marker_pub = rospy.Publisher("/collision_marker", MarkerArray, queue_size=10) + + self.first_visualization = True + self.x_viz = 0.0 + self.y_viz = 0.0 + self.viz_q = quaternion_from_euler(0, 0, 0) + self.viz_counter = 0 + self.obs_arr = ObstacleArray() + self.car_odom = Odometry() + self.rate = rospy.Rate(50) # 50Hz + + def od_cb(self, data: ObstacleArray): + # Process the received data here + self.obs_arr = data + + def odom_cb(self, data: Odometry): + self.car_odom = data + + def glb_wpnts_cb(self, data:WpntArray): + self.glb_waypoints = data.wpnts + + def loop(self): + rospy.loginfo("[Dummy OD] Collision Detector wating...") + rospy.wait_for_message("/car_state/odom_frenet", Odometry) + rospy.wait_for_message("/global_waypoints", WpntArray) + rospy.loginfo("[Dummy OD] Collision Detector ready!") + while not rospy.is_shutdown(): + # sample the callback data + obs_arr = self.obs_arr + car_odom = self.car_odom + + # check for collision + collision_bool, min_dist_s, min_dist_d = self.collision_check(obs_arr=obs_arr, car_odom=car_odom) + + # visualize collision or clear visualization + if self.viz_counter > 0: + self.viz_counter -= 1 + if self.viz_counter == 0: + self.viz_collision(clear=True) + + # publish collision + col_msg = Bool() + if collision_bool: + #rospy.loginfo("[Dummy OD] Collision with Opponent detected! Distance: {} [m]".format(min_dist)) + col_msg.data = True + self.viz_counter = int(1 / self.rate.sleep_dur.to_sec()) * 2 # How long to show the collision marker [s] + self.viz_collision(dist_s=min_dist_s, dist_d=min_dist_d, clear=False) + else: + col_msg.data = False + self.col_pub.publish(col_msg) + + # publish distance to closest obstacle + dist_msg = Float32() + dist_msg.data = np.sqrt(min_dist_s**2 + min_dist_d**2) + self.opp_dist_pub.publish(dist_msg) + + self.rate.sleep() + + def collision_check(self, obs_arr: ObstacleArray, car_odom: Odometry): + for obs in obs_arr.obstacles: + car_s = car_odom.pose.pose.position.x + car_d = car_odom.pose.pose.position.y + + od_s = obs.s_center + od_d = obs.d_center + + if (od_s - car_s)%self.glb_waypoints[-2].s_m < 0.55 and abs(car_d - od_d) < 0.35: + rospy.loginfo("[Dummy OD] Front Collision with Opponent detected! Position Frenet s: {} [m]".format(car_s)) + return True, (od_s - car_s)%self.glb_waypoints[-2].s_m, abs(car_d - od_d) + if (car_s - od_s)%self.glb_waypoints[-2].s_m < 0.25 and abs(car_d - od_d) < 0.30: + rospy.loginfo("[Dummy OD] Back Collision with Opponent detected! Position Frenet s: {} [m]".format(car_s)) + return True, (car_s - od_s)%self.glb_waypoints[-2].s_m, abs(car_d - od_d) + # no collision + return False, 100, 100 + + def viz_collision(self, dist_s=0, dist_d=0, clear=False): + if self.first_visualization: + self.first_visualization = False + x0 = self.glb_waypoints[len(self.glb_waypoints)//4].x_m + y0 = self.glb_waypoints[len(self.glb_waypoints)//4].y_m + x1 = self.glb_waypoints[len(self.glb_waypoints)//4+1].x_m + y1 = self.glb_waypoints[len(self.glb_waypoints)//4+1].y_m + # compute normal vector of 175% length of trackboundary but to the left of the trajectory + xy_norm = -np.array([y1-y0, x0-x1]) / np.linalg.norm([y1-y0, x0-x1]) * 1.75 * self.glb_waypoints[len(self.glb_waypoints)//4].d_left + # compute orientation of normal vector and convert to quaternion + yaw = np.arctan2(xy_norm[1], xy_norm[0]) + self.viz_q = quaternion_from_euler(0, 0, yaw) + # compute position of marker + self.x_viz = x0 + xy_norm[0] + self.y_viz = y0 + xy_norm[1] + + coll_mrk = MarkerArray() + marker_text = Marker() + marker_text.header.frame_id = "map" + marker_text.header.stamp = rospy.Time.now() + marker_text.type = marker_text.TEXT_VIEW_FACING + marker_text.text = "COLLISION: dist_s :{:.1f}, dist_d :{:.1f}m".format(dist_s, dist_d) if not clear else "" + marker_text.scale.z = 1.0 + marker_text.color.r = 1.0 + marker_text.color.g = 0.0 + marker_text.color.b = 0.0 + marker_text.color.a = 1.0 + marker_text.pose.orientation.x = self.viz_q[0] + marker_text.pose.orientation.y = self.viz_q[1] + marker_text.pose.orientation.z = self.viz_q[2] + marker_text.pose.orientation.w = self.viz_q[3] + marker_text.pose.position.x = self.x_viz + marker_text.pose.position.y = self.y_viz + marker_text.pose.position.z = 0.0 + marker_text.id = 0 + coll_mrk.markers.append(marker_text) + + self.coll_marker_pub.publish(coll_mrk) + +if __name__ == '__main__': + rospy.init_node('OdCollisionDetector_node') + collision_detector = OdCollisionDetector() + collision_detector.loop() \ No newline at end of file diff --git a/f110_utils/nodes/obstacle_publisher/src/dynamic_obs_pub_server.py b/f110_utils/nodes/obstacle_publisher/src/dynamic_obs_pub_server.py new file mode 100755 index 0000000..9ef5a23 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/src/dynamic_obs_pub_server.py @@ -0,0 +1,19 @@ +#!/usr/bin/env python3 +import rospy +from dynamic_reconfigure.server import Server +from obstacle_publisher.cfg import dyn_obs_publisherConfig + +def callback(config, level): + config.speed_scaler = config.speed_scaler + config.ampl_sin1 = config.ampl_sin1 + config.ampl_sin2 = config.ampl_sin2 + config.phase_sin1 = config.phase_sin1 + config.phase_sin2 = config.phase_sin2 + print("Hey there") + return config + +if __name__ == "__main__": + rospy.init_node("dynamic_obstacle_publisher_node", anonymous=False) + print('[Obs. Publisher] Dynamic Obstacle Publisher Server Launched...') + srv = Server(dyn_obs_publisherConfig, callback) + rospy.spin() \ No newline at end of file diff --git a/f110_utils/nodes/obstacle_publisher/src/obstacle_publisher.py b/f110_utils/nodes/obstacle_publisher/src/obstacle_publisher.py new file mode 100755 index 0000000..01d3969 --- /dev/null +++ b/f110_utils/nodes/obstacle_publisher/src/obstacle_publisher.py @@ -0,0 +1,246 @@ +#!/usr/bin/env python3 + +import rospy +import numpy as np +from geometry_msgs.msg import PointStamped +from f110_msgs.msg import ObstacleArray, Obstacle, WpntArray, Wpnt, OpponentTrajectory, OppWpnt +from visualization_msgs.msg import Marker, MarkerArray +from frenet_conversion.srv import Glob2FrenetArr, Frenet2GlobArr +from nav_msgs.msg import Odometry + + +class ObstaclePublisher: + """Publish a dynamic obstacle in the F110 simulator + + node can be used to puclish a dynamic obstacle with a chosen speed, trajectory and starting + parameter "s". + The described attributes can be set in the launch file. + + Attributes + ---------- + speed: float + defines the speed of the obstacle in meters per second + trajectory: string + defines which trajectory is used among "min_curv", "shortest_path", "centerline" + starting_s: float + defines the inital starting parameter "s" as according to the Frenet Frame + """ + def __init__(self): + looprate = 50 + self.rate = rospy.Rate(looprate) + self.looptime = 1/looprate + + self.dynamic_obstacle = self.init_dynamic_obstacle() + self.obj_len = 0.5 + + # Parameters + self.speed_scaler = rospy.get_param("obstacle_publisher/speed_scaler", 1) + self.constant = rospy.get_param("obstacle_publisher/constant_speed", False) + + # choose trajectory + self.waypoints_type = rospy.get_param("/obstacle_publisher/trajectory", "min_curv") + if self.waypoints_type == "min_curv": + self.waypoints_topic = "/global_waypoints" + elif self.waypoints_type == "shortest_path": + self.waypoints_topic = "/global_waypoints/shortest_path" + elif self.waypoints_type == "centerline": + self.waypoints_topic = "/centerline_waypoints" + elif self.waypoints_type == "updated": + self.waypoints_topic = "/global_waypoints_updated" + print("Using updated waypoints") + elif self.waypoints_type == "min_time": + raise NotImplementedError( + "LTO Trajectory is not currently implemented. Choose another trajectory type." + ) + else: + raise ValueError( + f"Waypoints of type {self.waypoints_type} are not supported." + ) + + self.starting_s = rospy.get_param("/obstacle_publisher/start_s", 0) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.odom_cb) + self.car_odom = Odometry() + + self.obstacle_pub = rospy.Publisher("/perception/obstacles", ObstacleArray, queue_size=10) + self.obstacle_mrk_pub = rospy.Publisher("/dummy_obstacle_markers", MarkerArray, queue_size=10) + self.opponent_traj_pub = rospy.Publisher("/opponent_waypoints", OpponentTrajectory, queue_size=10) + + # Frenet Conversion Service + rospy.wait_for_service("convert_glob2frenet_service") + self.glob2frenet = rospy.ServiceProxy("convert_glob2frenetarr_service", Glob2FrenetArr) + self.frenet2glob = rospy.ServiceProxy("convert_frenet2globarr_service", Frenet2GlobArr) + self.mincurv_wpnts = None + + def init_dynamic_obstacle(self) -> Obstacle: + """ Initializes the dynamic obstacles, it could be expanded to multiple obstacles, by changing the id + """ + dynamic_obstacle = Obstacle() + dynamic_obstacle.id = 1 + dynamic_obstacle.d_right = -0.1 # needs to be a smaller value than d_left + dynamic_obstacle.d_left = 0.1 + dynamic_obstacle.is_actually_a_gap = False + + return dynamic_obstacle + + + ### CALLBACKS ### + def wpnts_cb(self, data: WpntArray): + wpnts = data.wpnts[:-1] # exclude last point (because last point == first point) + max_s = wpnts[-1].s_m + return wpnts, max_s + + def odom_cb(self, data: Odometry): + self.car_odom = data + + ### HELPERS ### + def publish_obstacle_cartesian(self, obstacles): + """Visualizes obstacles in cartesian frame""" + obs_markers = MarkerArray() + for obs in obstacles: + # Do frenet conversion from (s,d) [frenet wrt min curv] -> (x,y) [cartesian] + resp = self.frenet2glob([obs.s_center], [obs.d_center]) + x = resp.x[0] + y = resp.y[0] + + obs_marker = Marker(header=rospy.Header(frame_id="map"), id=obs.id, type=Marker.SPHERE) + obs_marker.scale.x = 0.5 + obs_marker.scale.y = 0.5 + obs_marker.scale.z = 0.5 + obs_marker.color.a = 0.5 + obs_marker.color.b = 0.5 + obs_marker.color.r = 0.5 + + obs_marker.pose.position.x = x + obs_marker.pose.position.y = y + obs_marker.pose.orientation.w = 1 + obs_markers.markers.append(obs_marker) + + self.obstacle_mrk_pub.publish(obs_markers) + + def shutdown(self): + rospy.loginfo("BEEP BOOP DUMMY OD SHUTDOWN") + self.obstacle_pub.publish(ObstacleArray()) + + + ### MAIN ### + def ros_loop(self): + """Main loop that moves around the car based on time measurement. It also publishes the + `Obstacle` message and the `MarkerArray`. + """ + # Wait for essential messages to arrive + rospy.loginfo("Dummy Obstacle Publisher waiting for waypoints...") + rospy.wait_for_service("convert_frenet2globarr_service") + rospy.wait_for_service("convert_glob2frenetarr_service") + # Read in ego waypoints + if self.waypoints_type == "updated": + global_wpnts_msg = rospy.wait_for_message("/global_waypoints_updated", WpntArray) + else: + global_wpnts_msg = rospy.wait_for_message("/global_waypoints", WpntArray) + global_wpnts, max_s = self.wpnts_cb(data=global_wpnts_msg) + s_array = np.array([wpnt.s_m for wpnt in global_wpnts]) + + # Read in opponent waypoints + if self.constant: + for i in range(len(global_wpnts)): + global_wpnts[i].vx_mps = 1 * self.speed_scaler + else: + for i in range(len(global_wpnts)): + global_wpnts[i].vx_mps = global_wpnts[i].vx_mps*self.speed_scaler #+ 0.5*global_wpnts[i].vx_mps*self.speed_scaler * np.sin((s_array[i]/s_array[-1])*2*np.pi - np.pi/2) + + opponent_wpnts_msg = rospy.wait_for_message(self.waypoints_topic, WpntArray) + opponent_wpnts_list, _ = self.wpnts_cb(data=opponent_wpnts_msg) + + # Resmaple opponent waypoints to match ego waypoints + + opponent_xy = self.glob2frenet([wpnt.x_m for wpnt in opponent_wpnts_list], [wpnt.y_m for wpnt in opponent_wpnts_list]) + opponent_s = opponent_xy.s + opponent_d = opponent_xy.d + sorted_indices = sorted(range(len(opponent_s)), key=lambda i: opponent_s[i]) + opponent_s_sorted= [opponent_s[i] for i in sorted_indices] + opponent_d_sorted= [opponent_d[i] for i in sorted_indices] + #opponent_vs_sorted= [opponent_wpnts_list[i].vx_mps for i in sorted_indices] + #opponent_vd_sorted= [opponent_wpnts_list[i].vy_mps for i in sorted_indices] + resampeld_opponent_d = np.interp(s_array, opponent_s_sorted, opponent_d_sorted) + resampeld_opponent_vs = [wpnt.vx_mps for wpnt in global_wpnts] + # np.interp(s_array, opponent_s_sorted, opponent_vs_sorted) + #resampeld_opponent_vd = np.interp(s_array, opponent_s_sorted, opponent_vd_sorted) + resampled_opponent_xy = self.frenet2glob(s_array, resampeld_opponent_d) + + self.opponent_wpnts = OpponentTrajectory() + for i in range(len(s_array)): + wpnt = OppWpnt() + wpnt.x_m = resampled_opponent_xy.x[i] + wpnt.y_m = resampled_opponent_xy.y[i] + wpnt.proj_vs_mps = resampeld_opponent_vs[i] + #wpnt.vy_mps = resampeld_opponent_vs[i] + wpnt.s_m = s_array[i] + wpnt.d_m = resampeld_opponent_d[i] + self.opponent_wpnts.oppwpnts.append(wpnt) + + + start_time = rospy.Time.now() + + rospy.sleep(0.1) + + # Add s offset only once in the beginning + + self.dynamic_obstacle.s_center = self.starting_s + + opponent_s_array = np.array([wpnt.s_m for wpnt in self.opponent_wpnts.oppwpnts]) + rospy.loginfo("Dummy Obstacle Publisher ready.") + + counter = 0 + + running = False + while not rospy.is_shutdown(): + if not running: + if self.car_odom.pose.pose.position.x > 0 and self.car_odom.pose.pose.position.x < 1: + rospy.loginfo("Dummy Obstacle is spawned. Good luck!") + running = True + else: + time_tracker = rospy.Time.now() + # publish obstacle message + obstacle_msg = ObstacleArray() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "frenet" + + s = self.dynamic_obstacle.s_center + approx_idx = np.abs(opponent_s_array - s).argmin() + + self.dyn_obstacle_speed = self.opponent_wpnts.oppwpnts[approx_idx].proj_vs_mps + self.dynamic_obstacle.s_center = (self.dynamic_obstacle.s_center + self.dyn_obstacle_speed * self.looptime) % max_s + self.dynamic_obstacle.s_start = (self.dynamic_obstacle.s_center - self.obj_len/2) % max_s + self.dynamic_obstacle.s_end = (self.dynamic_obstacle.s_center + self.obj_len/2) % max_s + self.dynamic_obstacle.d_center = self.opponent_wpnts.oppwpnts[approx_idx].d_m + self.dynamic_obstacle.d_right = self.dynamic_obstacle.d_center - 0.1 + self.dynamic_obstacle.d_left = self.dynamic_obstacle.d_center + 0.1 + self.dynamic_obstacle.vs = self.dyn_obstacle_speed + # Build s and d on selected reference line (self.waypoints_topic) by simply incrementing s and d=0 + # self.dynamic_obstacle.s_start = (self.dynamic_obstacle.s_start + self.dyn_obstacle_speed * self.looptime + self.starting_s) % max_s + # self.dynamic_obstacle.s_end = max((self.dynamic_obstacle.s_start + self.obj_len), 0.1) % max_s + # self.dynamic_obstacle.s_center = (self.dynamic_obstacle.s_start + self.obj_len / 2) % max_s # using len to avoid wrap problems + # self.dynamic_obstacle.d_center = (self.dynamic_obstacle.d_right + self.dynamic_obstacle.d_left) / 2 + # self.dynamic_obstacle.vs = self.dyn_obstacle_speed + + obstacle_msg.obstacles.append(self.dynamic_obstacle) + self.publish_obstacle_cartesian(obstacle_msg.obstacles) + + self.obstacle_pub.publish(obstacle_msg) + + counter = counter + 1 + + if counter > 25: + # Lap count has to be bigger than 1 to show that the trajectory is updated after one lap + opponent_traj_msg = OpponentTrajectory(header=rospy.Header(frame_id="map", stamp=rospy.Time.now()), lap_count = 2) + opponent_traj_msg.oppwpnts = self.opponent_wpnts.oppwpnts + self.opponent_traj_pub.publish(opponent_traj_msg) + counter = 0 + + self.rate.sleep() + + +if __name__ == "__main__": + rospy.init_node("obstacle_publisher", anonymous=False, log_level=rospy.INFO) + obstacle_publisher = ObstaclePublisher() + rospy.on_shutdown(obstacle_publisher.shutdown) + obstacle_publisher.ros_loop() \ No newline at end of file diff --git a/f110_utils/nodes/overtaking_sector_tuner/CMakeLists.txt b/f110_utils/nodes/overtaking_sector_tuner/CMakeLists.txt new file mode 100644 index 0000000..24dd2cb --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(overtaking_sector_tuner) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/ot_dyn_sect_tuner.cfg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES overtaking_sector_tuner +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/overtaking_sector_tuner.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/overtaking_sector_tuner_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_overtaking_sector_tuner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/overtaking_sector_tuner/README.md b/f110_utils/nodes/overtaking_sector_tuner/README.md new file mode 100644 index 0000000..b495ed8 --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/README.md @@ -0,0 +1,35 @@ +# Overtaking Sector Tuner +Basically like the Sector Tuner but for the overtaking line. + +It takes care of providing the GUI for slicing the overtaking line in sectors and then publishes the sectors and the corresponding scaling factors once the system is running. + +## Overtaking sector slicer +An example usage is in `/base_system/f1tenth_system/racecar/racecar/launch/pbl_teleop.launch`, where the overtaking sector slicer is launched as follows: +```xml + + + + +``` +This specifically provides the functionality to slice the sectors. + +## Overtaking sector server +An example usage is in `/base_system/f1tenth_system/racecar/racecar/launch/pbl_teleop.launch`, where the overtaking sector server is launched as follows: +```xml + + + + + + + +``` +This specifically provides the functionality to publish the sectors and publish the overtaking with the velocity smoothly interpolated between sectors. +The trajectory is published at the following topic +``` +/global_waypoints/overtaking +``` + + +--- +[Go back to the utils list](../../README.md) diff --git a/f110_utils/nodes/overtaking_sector_tuner/cfg/ot_dyn_sect_tuner.cfg b/f110_utils/nodes/overtaking_sector_tuner/cfg/ot_dyn_sect_tuner.cfg new file mode 100644 index 0000000..338d264 --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/cfg/ot_dyn_sect_tuner.cfg @@ -0,0 +1,37 @@ +#!/usr/bin/env python3 + +PACKAGE = "overtaking_sector_tuner" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('overtaking_sector_tuner') +yaml_path = os.path.join(ros_path, 'cfg/ot_sectors.yaml') +if os.path.isfile(yaml_path): + with open(yaml_path) as file: + sector_dict = yaml.load(file, Loader=yaml.FullLoader) + + gen = ParameterGenerator() + + gen.add("yeet_factor", double_t, 0, "Yeet Factor!", sector_dict['yeet_factor'], 0.5, 3.5) + gen.add("spline_len", double_t, 0, "Length of spline", sector_dict['spline_len'], 10, 50) + gen.add("ot_sector_begin", double_t, 0, "OT Sector Begin Length [m]", sector_dict['yeet_factor'], 0.1, 1.5) + + + sectors = {k: v for k, v in sector_dict.items() if k.startswith('Overtaking_sector')} + + # Generate flags for yes/no overtaking sector + i=0 + for key, item in sectors.items(): + #name, paramtype, level, description, default, min, max + gen.add("Overtaking_sector"+ str(i), bool_t, 1, "Overtake in Sector{}".format(i), item['ot_flag']) + i += 1 +else: + gen = ParameterGenerator() + + gen.add("yeet_factor", double_t, 0, "Yeet Factor!", 0.69, 0.5, 3.5) + gen.add("spline_len", double_t, 0, "Length of spline", 42, 10, 50) + gen.add("ot_sector_begin", double_t, 0, "OT Sector Begin Length [m]", 0.69, 0.1, 1.5) + gen.add("Overtaking_sector"+ str(0), bool_t, 1, "Overtake in Sector0", False) + +exit(gen.generate(PACKAGE, "ot_dynamic_sector", "ot_dyn_sect_tuner")) diff --git a/f110_utils/nodes/overtaking_sector_tuner/launch/ot_interpolator.launch b/f110_utils/nodes/overtaking_sector_tuner/launch/ot_interpolator.launch new file mode 100644 index 0000000..66228d5 --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/launch/ot_interpolator.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/f110_utils/nodes/overtaking_sector_tuner/launch/ot_sector_tuner.launch b/f110_utils/nodes/overtaking_sector_tuner/launch/ot_sector_tuner.launch new file mode 100644 index 0000000..81cbc7d --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/launch/ot_sector_tuner.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/overtaking_sector_tuner/package.xml b/f110_utils/nodes/overtaking_sector_tuner/package.xml new file mode 100644 index 0000000..dd5f882 --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/package.xml @@ -0,0 +1,59 @@ + + + overtaking_sector_tuner + 0.0.0 + The overtaking_sector_tuner package + + + + + gnone + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/f110_utils/nodes/overtaking_sector_tuner/scripts/finish_sector.sh b/f110_utils/nodes/overtaking_sector_tuner/scripts/finish_sector.sh new file mode 100755 index 0000000..615e69e --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/scripts/finish_sector.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +source ~/.bashrc + +cd ~/catkin_ws + +#Clean and build sector tuner to force refresh of dynamic reconfigure +catkin clean overtaking_sector_tuner +catkin build overtaking_sector_tuner \ No newline at end of file diff --git a/f110_utils/nodes/overtaking_sector_tuner/src/ot_interpolator.py b/f110_utils/nodes/overtaking_sector_tuner/src/ot_interpolator.py new file mode 100755 index 0000000..c172112 --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/src/ot_interpolator.py @@ -0,0 +1,377 @@ +#! /usr/bin/env python3 + +import copy +import tqdm +from tracemalloc import start +import rospy +import numpy as np +import matplotlib.pyplot as plt +from f110_msgs.msg import Wpnt, WpntArray +from dynamic_reconfigure.msg import Config +from scipy.interpolate import InterpolatedUnivariateSpline as Spline +from visualization_msgs.msg import Marker, MarkerArray +from frenet_converter.frenet_converter import FrenetConverter + + +class OvertakingInterpolator: + """ + Trajectory interpolator to merge the global waypoints with the shortest path + """ + + def __init__(self, debug_plot: bool = False) -> None: + self.node_name = "ot_interpolator" + rospy.init_node(self.node_name) + + # sectors params + self.glb_wpnts_og = None + self.glb_wpnts_scaled = None + self.interp_wpnt = None + self.need_to_reinterpolate = True + self.max_gb_speed = 10 + + # get initial scaling + self.sectors_params = rospy.get_param("/ot_map_params") + rospy.loginfo(self.sectors_params) + self.n_sectors = self.sectors_params['n_sectors'] + self.yeet_factor = rospy.get_param("/ot_map_params/yeet_factor") + self.spline_len = int(rospy.get_param("/ot_interpolator/spline_len", 30)) + + # SUBSCRIBE + self.glb_wpnts_name = "/global_waypoints_scaled" + self.glb_wpnts_sp_name = "/global_waypoints/shortest_path" + rospy.Subscriber("/ot_dyn_sector_server/parameter_updates", Config, self.dyn_param_cb) + rospy.Subscriber("/dyn_sector_server/parameter_updates", Config, self.dyn_speed_param_cb) + rospy.Subscriber(self.glb_wpnts_name, WpntArray, self.glb_wpnts_cb) + rospy.Subscriber("/global_waypoints", WpntArray, self.glb_wpnts_og_cb) + rospy.Subscriber(self.glb_wpnts_sp_name, WpntArray, self.glb_wpnts_sp_cb) + + # rospy.loginfo(f"[{self.node_name}] Waiting for the frenet conversion service...") + # rospy.wait_for_service("/convert_glob2frenet_service") + # rospy.loginfo(f"[{self.node_name}] Frenet conversion service found!") + # self.g2f_converter = rospy.ServiceProxy("/convert_glob2frenet_service", Glob2Frenet) + + # new glb_waypoints + self.ot_points_pub = rospy.Publisher("/global_waypoints/overtaking", WpntArray, queue_size=10) + self.ot_markers_pub = rospy.Publisher("/global_waypoints/overtaking/markers", MarkerArray, queue_size=10) + + self.converter = self.initialize_converter() + + + def glb_wpnts_og_cb(self, data:WpntArray): + """ + Saves the global waypoints (minimum curvature) + """ + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in data.wpnts]) + self.glb_wpnts_og = data + self.max_gb_speed = np.max(np.array([wpnt.vx_mps for wpnt in data.wpnts])) + + def glb_wpnts_cb(self, data:WpntArray): + """ + Saves the global waypoints (minimum curvature) + """ + self.glb_wpnts_scaled = data + coords = np.array( + [[wpnt.s_m, wpnt.x_m, wpnt.y_m] for wpnt in data.wpnts] + ) + self.glb_spline_np = coords[:, 1:3] + self.glb_spline_x = Spline(coords[:, 0], coords[:, 1]) + self.glb_spline_y = Spline(coords[:, 0], coords[:, 2]) + + + def glb_wpnts_sp_cb(self, data:WpntArray): + """ + Saves the global waypoints (shortest path) + """ + self.glb_wpnts_sp_og = data + coords = np.array( + [[wpnt.s_m, wpnt.x_m, wpnt.y_m, wpnt.vx_mps] for wpnt in data.wpnts] + ) + self.ot_spline_np = coords[:, 1:3] + self.ot_spline_x = Spline(coords[:, 0], coords[:, 1]) + self.ot_spline_y = Spline(coords[:, 0], coords[:, 2]) + self.ot_spline_speed = Spline(coords[:, 0], coords[:, 3]) + + def dyn_param_cb(self, params:Config): + """ + Notices the change in the parameters and scales the global waypoints + """ + # update params + for param in params.bools: + self.sectors_params[param.name]['ot_flag'] = param.value + + #assert params.doubles[0].name == 'yeet_factor' + self.yeet_factor = params.doubles[0].value + self.spline_len = int(params.doubles[1].value) + self.need_to_reinterpolate = True + rospy.loginfo(self.sectors_params) + + def dyn_speed_param_cb(self, params:Config): + self.need_to_reinterpolate = True + + def initialize_converter(self) -> FrenetConverter: + """ + Initialize the FrenetConverter object""" + rospy.wait_for_message("/global_waypoints", WpntArray) + + # Initialize the FrenetConverter object + + converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo("[OT Interpolator] initialized FrenetConverter object") + + return converter + + def get_interpolating_schedule(self): + length_wpnts = len(self.glb_wpnts_og.wpnts) + schedule = np.zeros(length_wpnts) + # this is the switching sector length, longer is smoother, unit is 0.1 m + switching_sec_len = self.spline_len + + for i in range(self.n_sectors): + sector = f"Overtaking_sector{i}" + if self.sectors_params[sector]['ot_flag']: + if self.prev_sector_overtaking(i): + schedule[self.sectors_params[sector]['start']:self.sectors_params[sector]['start']+switching_sec_len-1] = 1 + else: + for j in range(switching_sec_len): + schedule[self.sectors_params[sector]['start']+j] = self.interpolating_function(j, switching_sec_len, mode='sigmoid') + + if self.next_sector_overtaking(i): + schedule[self.sectors_params[sector]['end']-switching_sec_len+1:self.sectors_params[sector]['end']+1] = 1 + else: + for j in range(1, switching_sec_len+1): + schedule[self.sectors_params[sector]['end']-j] = self.interpolating_function(j, switching_sec_len, mode='sigmoid') + + schedule[self.sectors_params[sector]['start']+switching_sec_len-1:self.sectors_params[sector]['end']-switching_sec_len+1] = 1 + + return schedule + + def interpolating_function(self, idx: int, schedule_len: int, mode: str='linear'): + """ + Defines how we go from zero to one in the interpolation of trajectories + So it should be a function that goes from zero when called with idx = 0 + to one when called with idx=schedule_len + """ + sig_scale = 4 + + if mode == 'linear': + return idx/schedule_len + elif mode == 'sigmoid': + sigmoid_idx = (idx/schedule_len)*sig_scale*2 - sig_scale + return 1/(1 + np.exp(-sigmoid_idx)) + else: + raise NotImplementedError(f"The mode '{mode}' is not implemented") + + def prev_sector_overtaking(self, idx): + if idx == 0: + return self.sectors_params[f"Overtaking_sector{self.n_sectors-1}"]['ot_flag'] + else: + return self.sectors_params[f"Overtaking_sector{idx-1}"]['ot_flag'] + + def next_sector_overtaking(self, idx): + if idx == (self.n_sectors-1): + return self.sectors_params[f"Overtaking_sector0"]['ot_flag'] + else: + return self.sectors_params[f"Overtaking_sector{idx+1}"]['ot_flag'] + + def interpolate_line(self, schedule): + """ + Interpolates the point between the two trajectories according to the given schedule + + Parameters + ---------- + start_s + s parameter indicating the start of where we want to interpolate + end_s + s parameter indicating the end of where we want to interpolate + """ + ses = [] + last_point = None + nearest_p_idx = None + self.interp_wpnt = copy.deepcopy(self.glb_wpnts_scaled) + + for i, waypoint in tqdm.tqdm(enumerate(self.interp_wpnt.wpnts)): + if schedule[i] > 0: + # find direction of global + coordinate = np.array([self.glb_wpnts_scaled.wpnts[i].x_m, self.glb_wpnts_scaled.wpnts[i].y_m]) + direction = np.array([self.glb_spline_x(i/10, 1), self.glb_spline_y(i/10, 1)]) + direction /= np.linalg.norm(direction) + + # find nearest point + nearest_p_idx = np.argmin((np.linalg.norm((self.ot_spline_np-coordinate), axis=1))) + + # find point perpendicular + start_idx = nearest_p_idx + idx_fwd = start_idx + idx_bwd = start_idx + min_perp_fwd = None + min_perp_bwd = None + # look forward + for _ in range(50): + point_on_mindist = np.array([self.ot_spline_x(idx_fwd/10), self.ot_spline_y(idx_fwd/10)]) + vector = point_on_mindist-coordinate + vector /= np.linalg.norm(vector) + perp_fwd = np.abs(np.dot(direction, vector)) + if min_perp_fwd is None: + min_perp_fwd = perp_fwd + point_fwd = copy.deepcopy(point_on_mindist) + else: + if perp_fwd < min_perp_fwd: + min_perp_fwd = perp_fwd + point_fwd = copy.deepcopy(point_on_mindist) + else: + break + idx_fwd += 0.01 + # look backward + for _ in range(50): + point_on_mindist = np.array([self.ot_spline_x(idx_bwd/10), self.ot_spline_y(idx_bwd/10)]) + vector = point_on_mindist-coordinate + vector /= np.linalg.norm(vector) + perp_bwd = np.abs(np.dot(direction, vector)) + if min_perp_bwd is None: + min_perp_bwd = perp_bwd + point_bwd = copy.deepcopy(point_on_mindist) + else: + if perp_bwd < min_perp_bwd: + min_perp_bwd = perp_bwd + point_bwd = copy.deepcopy(point_on_mindist) + else: + break + + idx_bwd -= 0.01 + + if min_perp_bwd < min_perp_fwd: + point_chosen = point_bwd + idx_chosen = idx_bwd + else: + point_chosen = point_fwd + idx_chosen = idx_fwd + + # interpolate + new_point = schedule[i]*point_chosen + (1-schedule[i])*coordinate + + # interpolate for speed + # speed_scaling = self.glb_wpnts_scaled.wpnts[i].vx_mps/self.glb_wpnts_og.wpnts[i].vx_mps + # new_point_speed = schedule[i]*self.ot_spline_speed(idx_chosen/10) + (1-schedule[i])*self.glb_wpnts_og.wpnts[i].vx_mps + # new_point_speed *= speed_scaling*self.yeet_factor + new_point_speed = self.glb_wpnts_scaled.wpnts[i].vx_mps*self.yeet_factor + + last_point = copy.deepcopy(new_point) + waypoint.x_m = last_point[0] + waypoint.y_m = last_point[1] + waypoint.vx_mps = new_point_speed + + def recalculate_ot_s(self): + # fit spline to whole new track, speed included + # for s and d we take them relative to the global mincurv + coords = np.inf*np.ones((len(self.interp_wpnt.wpnts), 4)) + s = 0 + i = 0 + for wpnt in self.interp_wpnt.wpnts: + if i > 0: + # for points different from the first we should not add if they're the same + dist_from_previous = np.linalg.norm([wpnt.x_m - coords[i-1, 1], wpnt.y_m - coords[i-1, 2]]) + if dist_from_previous > 0: + s += dist_from_previous + coords[i, 0] = s + coords[i, 1] = wpnt.x_m + coords[i, 2] = wpnt.y_m + coords[i, 3] = wpnt.vx_mps + i+=1 + else: + # default action for first point + coords[i, 0] = s + coords[i, 1] = wpnt.x_m + coords[i, 2] = wpnt.y_m + coords[i, 3] = wpnt.vx_mps + i+=1 + tot_len = s + np.linalg.norm([coords[0, 1] - coords[i-1, 1], coords[0, 2] - coords[i-1, 2]]) + + spline_x = Spline(coords[:i, 0], coords[:i, 1]) + spline_y = Spline(coords[:i, 0], coords[:i, 2]) + spline_speed = Spline(coords[:i, 0], coords[:i, 3]) + + # rewrite whole array + self.interp_wpnt = WpntArray() + wpnts = [] + for i in range(0, int(tot_len*10)): + new_wpnt = Wpnt() + new_wpnt.id = i + new_wpnt.x_m = spline_x(i/10) + new_wpnt.y_m = spline_y(i/10) + new_wpnt.vx_mps = spline_speed(i/10) + # curvature + x_d = spline_x(i/10, 1) + x_dd = spline_x(i/10, 2) + y_d = spline_y(i/10, 1) + y_dd = spline_y(i/10, 2) + curvature = ( + np.abs(x_d * y_dd - y_d * x_dd)/pow((x_d**2 + y_d **2), 1.5) + ) + new_wpnt.kappa_radpm = curvature + # frenet components + frenet_newpoint = self.converter.get_frenet(np.array([new_wpnt.x_m]), np.array([new_wpnt.y_m])) + new_wpnt.s_m = frenet_newpoint[0] + new_wpnt.d_m = frenet_newpoint[1] + + self.interp_wpnt.wpnts.append(copy.deepcopy(new_wpnt)) + + def interpolate_points(self): + """ + Scales the global waypoints' + """ + if self.need_to_reinterpolate: + # we need to wait the global waitpoint scaled, otherwise we might use old ones + rospy.wait_for_message(self.glb_wpnts_name, WpntArray) + schedule = self.get_interpolating_schedule() + self.interpolate_line(schedule) + self.recalculate_ot_s() + + self.need_to_reinterpolate = False + pass + + def publish_markers(self): + max_vx_mps = self.max_gb_speed + global_markers = MarkerArray() + + for i, wpnt in enumerate(self.interp_wpnt.wpnts): + global_marker = Marker() + global_marker.header.frame_id = 'map' + global_marker.type = global_marker.CYLINDER + global_marker.scale.x = 0.1 + global_marker.scale.y = 0.1 + global_marker.scale.z = wpnt.vx_mps / max_vx_mps + global_marker.color.a = 1.0 + global_marker.color.r = 0.0 + global_marker.color.g = 0.0 + global_marker.color.b = 1.0 + + global_marker.id = i + global_marker.pose.position.x = wpnt.x_m + global_marker.pose.position.y = wpnt.y_m + global_marker.pose.position.z = wpnt.vx_mps / max_vx_mps / 2 + global_marker.pose.orientation.w = 1 + global_markers.markers.append(global_marker) + + self.ot_markers_pub.publish(global_markers) + + def loop(self): + rospy.loginfo(f"[{self.node_name}] Waiting for global waypoints...") + rospy.loginfo(f"[{self.node_name}] Waiting for shortest path waypoints...") + rospy.wait_for_message(self.glb_wpnts_name, WpntArray) + rospy.loginfo(f"[{self.node_name}] Global waypoints received!") + rospy.wait_for_message(self.glb_wpnts_sp_name, WpntArray) + rospy.loginfo(f"[{self.node_name}] Shortest path waypoints received!") + + # initialise scaled points + self.interpolate_points() + + run_rate = rospy.Rate(2) + while not rospy.is_shutdown(): + self.interpolate_points() + self.ot_points_pub.publish(self.interp_wpnt) + self.publish_markers() + run_rate.sleep() + +if __name__ == '__main__': + ot_interpolator = OvertakingInterpolator() + ot_interpolator.loop() diff --git a/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_server.py b/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_server.py new file mode 100755 index 0000000..a52796d --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_server.py @@ -0,0 +1,91 @@ +#!/usr/bin/env python3 +import rospy +import numpy as np +from f110_msgs.msg import WpntArray +from tf.transformations import quaternion_from_euler +from dynamic_reconfigure.server import Server +from overtaking_sector_tuner.cfg import ot_dyn_sect_tunerConfig +from visualization_msgs.msg import Marker, MarkerArray + +def callback(config, level): + return config + +class OvertakingSectorPublisher: + def __init__(self): + self.glb_waypoints = None + self.sector_pub = rospy.Publisher('/ot_sector_markers', MarkerArray, queue_size=10) + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + + def glb_wpnts_cb(self, data): + self.glb_waypoints = [] + for waypoint in data.wpnts: + self.glb_waypoints.append([waypoint.x_m, waypoint.y_m, waypoint.s_m]) + + def pub_sector_markers(self): + rate = rospy.Rate(1) + while (not rospy.is_shutdown()): + if self.glb_waypoints is None: + continue + + # one needs to set the overtaking_map_params rosparams + sectors_params = rospy.get_param("/ot_map_params") + n_sectors = sectors_params['n_sectors'] + sec_markers = MarkerArray() + + for i in range(n_sectors): + s = sectors_params[f"Overtaking_sector{i}"]['start'] + if s == (len(self.glb_waypoints) - 1): + theta = np.arctan2((self.glb_waypoints[0][1] - self.glb_waypoints[s][1]),(self.glb_waypoints[0][0] - self.glb_waypoints[s][0])) + else: + theta = np.arctan2((self.glb_waypoints[s+1][1] - self.glb_waypoints[s][1]),(self.glb_waypoints[s+1][0] - self.glb_waypoints[s][0])) + quaternions = quaternion_from_euler(0, 0, theta) + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.type = marker.ARROW + marker.scale.x = 0.5 + marker.scale.y = 0.05 + marker.scale.z = 0.15 + marker.color.r = 1.0 + marker.color.g = 0.0 + marker.color.b = 0.0 + marker.color.a = 1.0 + marker.pose.position.x = self.glb_waypoints[s][0] + marker.pose.position.y = self.glb_waypoints[s][1] + marker.pose.position.z = 0 + marker.pose.orientation.x = quaternions[0] + marker.pose.orientation.y = quaternions[1] + marker.pose.orientation.z = quaternions[2] + marker.pose.orientation.w = quaternions[3] + marker.id = i + sec_markers.markers.append(marker) + + marker_text = Marker() + marker_text.header.frame_id = "map" + marker_text.header.stamp = rospy.Time.now() + marker_text.type = marker_text.TEXT_VIEW_FACING + marker_text.text = f"Start Overtaking Sector {i}" + marker_text.scale.z = 0.4 + marker_text.color.r = 0.1 + marker_text.color.g = 0.1 + marker_text.color.b = 1.2 + marker_text.color.a = 1.0 + marker_text.pose.position.x = self.glb_waypoints[s][0] + marker_text.pose.position.y = self.glb_waypoints[s][1] + marker_text.pose.position.z = 1.5 + marker_text.pose.orientation.x = 0.0 + marker_text.pose.orientation.y = 0.0 + marker_text.pose.orientation.z = 0.0436194 + marker_text.pose.orientation.w = 0.9990482 + marker_text.id = i + n_sectors + sec_markers.markers.append(marker_text) + self.sector_pub.publish(sec_markers) + rate.sleep() + +if __name__ == "__main__": + rospy.init_node("dynamic_ot_sector_tuner", anonymous=False) + print('Dynamic Overtaking Sector Server Launched...') + # ot_dyn_sect_tunerConfig # Does this do anything? (removed) + srv = Server(ot_dyn_sect_tunerConfig, callback) + sec_pub = OvertakingSectorPublisher() + sec_pub.pub_sector_markers() diff --git a/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_slicing.py b/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_slicing.py new file mode 100755 index 0000000..6744c1f --- /dev/null +++ b/f110_utils/nodes/overtaking_sector_tuner/src/ot_sector_slicing.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 +import rospy, rospkg +import yaml, os, subprocess, time +from f110_msgs.msg import WpntArray +from visualization_msgs.msg import MarkerArray +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.widgets import Slider, Button +from matplotlib.patches import Arrow + +class OvertakingSectorSlicer: + """ + Node for listening to gb waypoints and running a GUI to tune the sectors s.t. a yaml can be exported for dynamic reconfigure + """ + def __init__(self): + rospy.init_node('ot_sector_node', anonymous=True) + + self.glb_wpnts = None + self.glb_sp_wpnts = None + self.track_bounds = None + + self.glob_slider_s = 0 + self.sector_pnts = [0] #Sector always has tostart at 0 + + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + rospy.Subscriber('/global_waypoints/shortest_path', WpntArray, self.glb_sp_wpnts_cb) + rospy.Subscriber('/trackbounds/markers', MarkerArray, self.bounds_cb) + + #rosparam to define yaml dir but filename will always be ot_sectors.yaml + self.yaml_dir = rospy.get_param('~save_dir') + + def glb_wpnts_cb(self, data): + self.glb_wpnts = data + + def glb_sp_wpnts_cb(self, data): + self.glb_sp_wpnts = data + + def bounds_cb(self, data): + self.track_bounds = data + + def slice_loop(self): + #Wait until we get the waypoints + print('Waiting for global waypoints...') + rospy.wait_for_message('/global_waypoints', WpntArray) + rospy.wait_for_message('/global_waypoints/shortest_path', WpntArray) + + #Select Sectors via the GUI + self.sector_gui() + print('Selected Overtaking Sector IDXs:', self.sector_pnts) + + #Write sectors to yaml + self.sectors_to_yaml() + + def sector_gui(self): + #get wpnt message in list format for plotting + s = [] + v = [] + x = [] + y = [] + for wpnt in self.glb_wpnts.wpnts: + s.append(wpnt.s_m) + v.append(wpnt.vx_mps) + x.append(wpnt.x_m) + y.append(wpnt.y_m) + s = np.array(s) + x = np.array(x) + y = np.array(y) + + # plot raceline without sector points + fig, (ax1, axslider, axselect, axfinish) = plt.subplots(4, 1, gridspec_kw={'height_ratios': [5, 1, 1, 1]}) + ax1.plot(x, y, "b-", linewidth=0.7) + ax1.plot([mrk.pose.position.x for mrk in self.track_bounds.markers], [mrk.pose.position.y for mrk in self.track_bounds.markers], 'g-', linewidth=0.4) + ax1.plot([wpnt.x_m for wpnt in self.glb_sp_wpnts.wpnts], [wpnt.y_m for wpnt in self.glb_sp_wpnts.wpnts], 'r-', linewidth=0.7) + ax1.grid() + ax1.set_aspect("equal", "datalim") + ax1.set_xlabel("east in m") + ax1.set_ylabel("north in m") + # Plot arrow at start + arr_par = {'x': x[0], 'dx': 10 * (x[1] - x[0]), + 'y': y[0], 'dy': 10 * (y[1] - y[0]), + 'color': 'gray', + 'width': 0.5} + ax1.add_artist(Arrow(**arr_par)) + + #Slider stuff + def update_s(val): + idx = int(slider.val) - 1 + self.glob_slider_s = idx #update the global slider s + update_map(x=x, y=y, cur_s=idx) + fig.canvas.draw_idle() + + #Btn stuff + def select_s(event): + #When pressing button append the new position + self.sector_pnts.append(self.glob_slider_s) + update_map(x=x, y=y, cur_s=self.glob_slider_s) + + def finish(event): + plt.close() + + #Sectors always end at end + self.sector_pnts.append(len(s)) + + #Eliminate duplicates if necessary + self.sector_pnts = sorted(list(set(self.sector_pnts))) + return + + def update_map(x, y, cur_s): + ax1.cla() + ax1.plot(x, y, "b-", linewidth=0.7) + ax1.plot([mrk.pose.position.x for mrk in self.track_bounds.markers], [mrk.pose.position.y for mrk in self.track_bounds.markers], 'g-', linewidth=0.4) + ax1.plot([wpnt.x_m for wpnt in self.glb_sp_wpnts.wpnts], [wpnt.y_m for wpnt in self.glb_sp_wpnts.wpnts], 'r-', linewidth=0.7) + ax1.grid() + ax1.set_aspect("equal", "datalim") + ax1.set_xlabel("east in m") + ax1.set_ylabel("north in m") + ax1.scatter(x[cur_s], y[cur_s]) + if len(self.sector_pnts) > 0: + ax1.scatter(x[self.sector_pnts], y[self.sector_pnts], c='blue') + + #Matplotlib widgets for GUI + slider = Slider(axslider, 'S [m]', 0, len(s), valinit=0, valfmt='%d') + slider.on_changed(update_s) + + btn_select = Button(axselect, 'Select Overtaking S') + btn_select.on_clicked(select_s) + + btn_finish = Button(axfinish, 'Done') + btn_finish.on_clicked(finish) + + plt.show() + + def sectors_to_yaml(self): + #Create yaml with default sectors values + n_sectors = len(self.sector_pnts) - 1 + dict_file = { + 'n_sectors': n_sectors, + 'yeet_factor': 1.25, + 'spline_len': 30, + 'ot_sector_begin': 0.5 + } + for i in range(0, n_sectors): + #Add sectors with scaling field + dict_file['Overtaking_sector' + str(i)] = {'start':self.sector_pnts[i] if i == 0 else self.sector_pnts[i] + 1, + 'end':self.sector_pnts[i+1] + } + dict_file['Overtaking_sector' + str(i)].update({'ot_flag': False}) + + #Save yaml to the respective maps folder + yaml_path = os.path.join(self.yaml_dir, 'ot_sectors.yaml') + with open(yaml_path, 'w') as file: + print('Dumping to {}: {}'.format(yaml_path, dict_file)) + yaml.dump(dict_file, file, sort_keys=False) + + #Copy content to sector_tuner package for catkin build + ros_path = rospkg.RosPack().get_path('overtaking_sector_tuner') + yaml_path = os.path.join(ros_path, 'cfg/ot_sectors.yaml') + with open(yaml_path, 'w') as file: + print('Dumping to {}: {}'.format(yaml_path, dict_file)) + yaml.dump(dict_file, file, sort_keys=False) + + #Directly build the sector_tuner package + time.sleep(1) + print('Copying and writing the yaml to overtaking_sector_tuner package and building catkin for next use...') + shell_dir = os.path.join(ros_path, 'scripts/finish_sector.sh') + subprocess.Popen(shell_dir, shell=True) + +if __name__ == "__main__": + ot_sector_slicer = OvertakingSectorSlicer() + ot_sector_slicer.slice_loop() diff --git a/f110_utils/nodes/param_optimizer/CMakeLists.txt b/f110_utils/nodes/param_optimizer/CMakeLists.txt new file mode 100644 index 0000000..ee600a3 --- /dev/null +++ b/f110_utils/nodes/param_optimizer/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 3.0.2) +project(param_optimizer) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy + std_msgs +) + + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/param_optimizer/README.md b/f110_utils/nodes/param_optimizer/README.md new file mode 100644 index 0000000..522b11f --- /dev/null +++ b/f110_utils/nodes/param_optimizer/README.md @@ -0,0 +1,133 @@ +# Sector and MAP Parameter Optimizer + +The purpose of this is to use bayesian optimization to get optimal MAP parameters and/or sector scalers. The optimizer script can be launched side by side with the base system and time trials/head to head and does the optimization of the MAP parameter/sector scaler automatically. After the optimization, the parameters are set with dynamic reconfigure and can be permanentely stored manually in the corresponding yaml file. + +## Example Procedure +1. Edit parameter ranges: + + `race_stack/stack_master/config/NUCX/BO_range.yaml`. + +2. Start time trials (either in sim or real car by pressing R1 continuously) + +3. Run the BO server and the node + +For Sector Scaling optimization: +``` +roslaunch param_optimizer racecar_version:=NUCX param_optimizer.launch opt_sector_scalers:=True +``` + +For L1 param optimization: +``` +roslaunch param_optimizer racecar_version:=NUCX param_optimizer.launch opt_l1params:=True +``` +4. Check the settings printed in the terminal + +5. Wait until it is finished + + +## Launch file arguments +- `opt_l1params`: Bool, to optimize the l1 parameter +- `opt_sector_scalers`: Bool, to optimize sector scalers + +**Optional** +- `iterations`: How many iterations does the algorithm do to optimize parameters (default: 10) +- `laps_per_experiment`: Laps per iteration: e.g. lap criteria is averaged over a certain number of laps before calculating the cost (default: 1) +- `cost_lap_time_scaler`: Lap time's contribution to the cost (default: 1) +- `cost_crash_avoidance_scaler`: Minimum car distance to track boundary's contribution to the cost (default: 1) +- `cost_lat_err_scaler`: Average lateral error's contribution to the cost (default: 1) + +### Trouble shooting + +One way of quickly testing if the installation worked is by launching the server: + +``` +roslaunch bayesopt4ros bayesopt.launch +``` + +You should see the output of the server similar to this: + +```[INFO] [1616593243.400756]: [BayesOptServer] Iteration 0: Ready to receive requests.``` + +If roslaunch fails, make sure that the node script is executable. + +```chmod +x src/bayesopt4ros/nodes/bayesopt_node.py``` + +More information and examples can be found [here](https://intelligentcontrolsystems.github.io/bayesopt4ros/getting_started.html#your-own-workspace) + +### Other requirements +You need to have already some reasonable/good l1 parameters/sector scalers. This is in theory not necessary but will speed up the process of finding very good parameters. These reasonable params will be needed to decide for a suitable **range**. + +## How it works in more Detail +The relevant parameters are the l1 parameters (`t_clip_min`, `m_l1` and `q_l1`) and/or the sector scalers (depends on specific track). + +Bayesian Optimization tests different value combinations of these variables within a given **range**. The range should be chosen relatively conservative, as we do not want to test instable values. It is stored in a config file `~race_stack/stack_master/config/NUCX/BO_range`. + +After updating the l1 parameters the car drives 1 to 3 laps (depending on the setting) and a cost is calculated as described below + +```cost = f(distance to track boundary, average lateral error, lap time)``` + +The cost is sent to the Bayesian Optimization server and new parameters are requested. After receiving new parameters, the same process is repeated. + +It is suggested to optimize l1 parameters and sector scalers seperately and not simultaneously. + +## How to Run Node +Run time trials or head to head and press R1. After the car started to move you can run: + +``` +roslaunch param_optimizer racecar_version:=SIM/NUCX param_optimizer.launch +``` + +If you want to optimize the l1 parameter add `opt_sector_scalers:=True` and if you want to optimize the sector scalers add `opt_l1params:=True`. By default it will optimize with 10 iteration and do 1 lap per iteration (also called laps per experiment). You can change that by adding e.g. + + +``` +iterations:=5 laps_per_experiment:=1 opt_l1params:=True +``` + +Whenever you think the car is driving badly or dangerously you can stop pressing R1. Wait until there is a printout in the terminal: `Lap takes too long, not reasonable parameters. Skip!`. After this is printed the l1 parameters are resetted and the car should finish the lap nicely until it tries out new parameters. If the ranges are chosen conservative enough this should not be a problem. + +# Optimization Steps + + +1. Edit parameter ranges here: + + `~race_stack/stack_master/config/NUCX/BO_range.yaml`. + +2. Start time trials by pressing R1 continuously + +3. Run the node + +For Sector Scaling optimization: +``` +roslaunch param_optimizer racecar_version:=NUCX param_optimizer.launch opt_sector_scalers:=True +``` + +For L1 param optimization: +``` +roslaunch param_optimizer racecar_version:=NUCX param_optimizer.launch opt_l1params:=True +``` +4. Check the settings printed in the terminal + +5. Wait until it is finished + +Whenever you think the car is very unstable or cuts corners too aggressively, stop pressing R1 and wait until a message in the terminal appears: `'Lap takes too long, not reasonable parameters. Skip! (Press R1)'` . The parameters will be resetted and the car finishes the lap safely if you press R1 again. + +In the end save the new l1 parameter here: `stack_master/config/NUCX/l1_params.yaml` + +Parameters can also be obtained reading the logs in `param_optimizer/logs`, in case they are temporarily lost. + +### Optional + +Experiment with the acquisition function: UCB (upper confidence bound) or EI (expected improvement). In general: UCB is more explorative, which makes sense if the range is larger whereas EI is more exploitative. + +If you don't want to optimize a certain l1 parameter, e.g. `t_clip_min`, than you can its range very close, e.g. `[0.8, 0.0801]` + +Editing cost: +Focus more on lap time by setting the cost scaler from 1 (default) to e.g. 10: + +``` +cost_lap_time_scaler:=10 cost_crash_avoidance_scaler:=1 cost_lat_err_scaler:=1 +``` + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/param_optimizer/launch/param_optimizer.launch b/f110_utils/nodes/param_optimizer/launch/param_optimizer.launch new file mode 100644 index 0000000..7610b0b --- /dev/null +++ b/f110_utils/nodes/param_optimizer/launch/param_optimizer.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/param_optimizer/package.xml b/f110_utils/nodes/param_optimizer/package.xml new file mode 100644 index 0000000..abda689 --- /dev/null +++ b/f110_utils/nodes/param_optimizer/package.xml @@ -0,0 +1,58 @@ + + + param_optimizer + 0.0.0 + The param_optimizer package + + + + + gnone + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/f110_utils/nodes/param_optimizer/plots/avg_lat_err_EI_10ite_1lpe.png b/f110_utils/nodes/param_optimizer/plots/avg_lat_err_EI_10ite_1lpe.png new file mode 100644 index 0000000..6e5e3b7 Binary files /dev/null and b/f110_utils/nodes/param_optimizer/plots/avg_lat_err_EI_10ite_1lpe.png differ diff --git a/f110_utils/nodes/param_optimizer/plots/cost.png b/f110_utils/nodes/param_optimizer/plots/cost.png new file mode 100644 index 0000000..9f9de04 Binary files /dev/null and b/f110_utils/nodes/param_optimizer/plots/cost.png differ diff --git a/f110_utils/nodes/param_optimizer/plots/l1_param_EI_10iterations_1lpe.png b/f110_utils/nodes/param_optimizer/plots/l1_param_EI_10iterations_1lpe.png new file mode 100644 index 0000000..656a39a Binary files /dev/null and b/f110_utils/nodes/param_optimizer/plots/l1_param_EI_10iterations_1lpe.png differ diff --git a/f110_utils/nodes/param_optimizer/plots/lap_time.png b/f110_utils/nodes/param_optimizer/plots/lap_time.png new file mode 100644 index 0000000..5750acb Binary files /dev/null and b/f110_utils/nodes/param_optimizer/plots/lap_time.png differ diff --git a/f110_utils/nodes/param_optimizer/plots/min_dist_EI_10ite_1lpe.png b/f110_utils/nodes/param_optimizer/plots/min_dist_EI_10ite_1lpe.png new file mode 100644 index 0000000..3f4838c Binary files /dev/null and b/f110_utils/nodes/param_optimizer/plots/min_dist_EI_10ite_1lpe.png differ diff --git a/f110_utils/nodes/param_optimizer/src/param_optimizer.py b/f110_utils/nodes/param_optimizer/src/param_optimizer.py new file mode 100755 index 0000000..fe52338 --- /dev/null +++ b/f110_utils/nodes/param_optimizer/src/param_optimizer.py @@ -0,0 +1,770 @@ +#!/usr/bin/env python3 +import rospy +import rospkg +import actionlib +from bayesopt4ros.msg import BayesOptAction, BayesOptGoal +from dynamic_reconfigure.msg import Config +import dynamic_reconfigure.client +from f110_msgs.msg import LapData +from std_msgs.msg import Float32 +import numpy as np +from bayesopt4ros import test_objectives +import matplotlib.pyplot as plt +import os +import yaml +import sys +import subprocess + +# testing git stuff + + +class BayesOptimizer: + def __init__(self, name): + """ + This node optimizes some parameters of the MAP controller (L1 distance parameter) and also the sector scalers. + """ + self.name = name + + ########################################################## + # for visualization + save_plot_bool = True + save_location = "Downloads" + ########################################################### + + self.car_distance_to_boundary = [] + self.opt_l1params = rospy.get_param("param_optimizer/opt_l1params") + self.opt_sector_scalers = rospy.get_param( + "param_optimizer/opt_sector_scalers") + self.iterations = rospy.get_param("param_optimizer/iterations") + self.laps_per_experiment = rospy.get_param( + "param_optimizer/laps_per_experiment" + ) + # cost scalers: + self.cost_lap_time_scaler = rospy.get_param( + "param_optimizer/cost_lap_time_scaler" + ) + self.cost_crash_avoidance_scaler = rospy.get_param( + "param_optimizer/cost_crash_avoidance_scaler" + ) + self.cost_lat_err_scaler = rospy.get_param( + "param_optimizer/cost_lat_err_scaler" + ) + + # shut down all nodes if both tune variables are False + if not (self.opt_l1params) and not (self.opt_sector_scalers): + rospy.logwarn( + f"[{self.name}] Change self.opt_l1params and/or self.opt_sector_scalers to True" + ) + subprocess.call(["rosnode", "kill", "BayesOptNode"]) + sys.exit() + + self.fastest_lap_time = None + rospy.Subscriber("lap_data", LapData, self.lap_data_cb) # lap data + rospy.Subscriber( + "estimated_lap_time", Float32, self.fastest_lap_time_cb + ) # est lap time is actually fastest lap time # TODO change name + rospy.Subscriber( + "/min_car_distance_to_boundary", Float32, self.get_distance_to_boundary_cb + ) # min distance to boundary + + self.sim = rospy.get_param("/sim") + + # Init at zero: + self.n_sectors = 0 + self.number_of_l1_param = 0 + + # initialize dynamic reconfig client + if self.opt_l1params: + rospy.Subscriber( + "/l1_param_tuner/parameter_updates", Config, self.l1_params_cb + ) # l1 param updating + self.number_of_l1_param = ( + 3 # we consider 3 variables for l1 parameter (see README) + ) + self.dyn_rec_client_l1params = dynamic_reconfigure.client.Client( + "l1_param_tuner", timeout=30 + ) + + if self.opt_sector_scalers: + # get initial sector scaling + self.sectors_params = rospy.get_param("/map_params") + self.n_sectors = self.sectors_params["n_sectors"] + self.dyn_rec_client_sectors = dynamic_reconfigure.client.Client( + "dyn_sector_server", timeout=30 + ) + self.set_sector_global_limit() + # Write map_BO_forrester.yaml file + + # update Bayes Optimization .yaml-file: Edit number of parameters and ranges + self.update_yaml_file() + + # Bayesian Opt client: + self.bayes_opt_client = actionlib.SimpleActionClient( + "BayesOpt", BayesOptAction) + try: + self.bayes_opt_client.wait_for_server( + timeout=rospy.Duration.from_sec(1.0) + ) # wait for bayesOpt server + except rospy.exceptions.ROSException: + rospy.logwarn(f"[{self.name}] BayesOpt server is not responsding") + + # for plotting/visualizing + self.lap_time_list = [] + self.avg_lat_err_list = [] + self.min_car_dist_list = [] + self.y_list = [] + self.param_list = [] + self.y_opt_list = [] + self.skipped_iterations = [] + + # For smallest measured values: + self.shortest_lap_time = 999.9 + self.smallest_avg_lat_err = 9.9 + # For lap_time and error corresponding to the found optimum + self.optimal_lap_time = 999.9 + self.optimal_avg_lat_err = 9.9 + + # call optimize_loop + self.optimize_loop() + + self.visualize_data(save_plot_bool, save_location) + + ############# + # CALLBACKS # + ############# + def get_distance_to_boundary_cb(self, data): + self.min_car_distance = data.data + + def fastest_lap_time_cb(self, data): + self.fastest_lap_time = ( + data.data + ) # estimated_lap_time topic is actually the fastest lap time... + + def lap_data_cb(self, msg): + """ + extract lap data from lap_data topic + """ + self.avg_lat_err = msg.average_lateral_error_to_global_waypoints + self.lap_time = msg.lap_time + self.lap_count = msg.lap_count + + def l1_params_cb(self, params: Config): + """ + Here the l1 parameters will be updated accordingly + """ + self.t_clip_min = params.doubles[0].value + self.m_l1 = params.doubles[2].value + self.q_l1 = params.doubles[3].value + self.l1_default_config = [self.t_clip_min, self.m_l1, self.q_l1] + + ######### + # UTILS # + ######### + def update_yaml_file(self): + """ + This function retrieves the yaml data and transfers the ranges from BO_ranges.yaml to map_BO_forrester.yaml: + The input dimension and parameters ranges are edited. + This step is necessary, as the number of sectors varies. + """ + number_of_sectors = self.n_sectors + self.lower_bound = [] + self.upper_bound = [] + + BO_ragnes_path = rospkg.RosPack().get_path("stack_master") + # Load yaml file where you put in ranges for each parameter/sectors + with open( + BO_ragnes_path + + "/config/" + + self.get_racecar_version() + + "/BO_ranges.yaml", + "r", + ) as file: + BO_ranges_data = yaml.safe_load(file) + + # update bounds: + if self.opt_l1params: + t_clip_min_lb = BO_ranges_data["l1_param"]["t_clip_min"]["lower_bound"] + t_clip_min_ub = BO_ranges_data["l1_param"]["t_clip_min"]["upper_bound"] + m_l1_lb = BO_ranges_data["l1_param"]["m_l1"]["lower_bound"] + m_l1_ub = BO_ranges_data["l1_param"]["m_l1"]["upper_bound"] + q_l1_lb = BO_ranges_data["l1_param"]["q_l1"]["lower_bound"] + q_l1_ub = BO_ranges_data["l1_param"]["q_l1"]["upper_bound"] + + self.lower_bound = [t_clip_min_lb, m_l1_lb, q_l1_lb] + self.upper_bound = [t_clip_min_ub, m_l1_ub, q_l1_ub] + + if self.opt_sector_scalers: + for idx in range(number_of_sectors): + key_str = "Sector" + str(idx) # e.g. 'Sector0' + + self.lower_bound.append(BO_ranges_data[key_str]["lower_bound"]) + self.upper_bound.append(BO_ranges_data[key_str]["upper_bound"]) + + # Load the YAML file (map_BO_forrester.yaml): + yaml_path = rospy.get_param("/bayesopt_config") + with open(yaml_path, "r") as file: + yaml_data = yaml.safe_load(file) + + # Update + yaml_data["input_dim"] = ( + self.number_of_l1_param + number_of_sectors + ) # edit number of parameters to optimize + yaml_data["lower_bound"] = self.lower_bound + yaml_data["upper_bound"] = self.upper_bound + yaml_data["max_iter"] = self.iterations + yaml_data["log_dir"] = ( + rospkg.RosPack().get_path("param_optimizer") + "/logs" + ) # save logs in param_optimizer/logs + + # Save the updated YAML file + with open(yaml_path, "w") as yaml_file: + yaml.dump(yaml_data, yaml_file, default_flow_style=False) + rospy.loginfo(f"[{self.name}] New values were stored in {yaml_path}") + rospy.loginfo(f"[{self.name}] YAML UPDATED") + + def calculate_cost(self): + """ + Calculate cost which has to be minimized. We want to minimize lap time, lateral error and + maximize min distance to track boundary (to avoid crashes). + ---------- + Output: + cost: a function of lap time, average lateral error and min distance to track boundary + """ + cost_lap_time = self.get_lap_time_cost() + cost_crash_avoidance = self.get_distance_to_boundary_cost() + cost_lat_err = self.get_avg_lat_err_cost() + rospy.loginfo(f"[{self.name}] ----------- Calculate Cost -----------") + rospy.loginfo(f"[{self.name}] Min distance: {self.min_car_distance}") + rospy.loginfo(f"[{self.name}] Min distance cost: {cost_crash_avoidance}") + rospy.loginfo(f"[{self.name}] Avg lat error: {self.avg_lat_err}") + rospy.loginfo(f"[{self.name}] Avg lat error cost: {cost_lat_err}") + rospy.loginfo(f"[{self.name}] Lap time: {self.lap_time}") + rospy.loginfo(f"[{self.name}] Lap time cost: {cost_lap_time}") + + cost_total = ( + self.cost_lap_time_scaler * cost_lap_time + + self.cost_crash_avoidance_scaler * cost_crash_avoidance + + self.cost_lat_err_scaler * cost_lat_err + ) + + cost_total = cost_total / ( + self.cost_lat_err_scaler + + self.cost_crash_avoidance_scaler + + self.cost_lap_time_scaler + ) # normalize cost + rospy.loginfo(f"[{self.name}] = Cost total: {cost_total}") + return cost_total + + def get_avg_lat_err_cost(self): + standard_error = 0.15 # where the cost is 0.5 + slope = 50 + lateral_error_cost = 1 / ( + 1 + np.exp(-slope * (self.avg_lat_err - standard_error)) + ) + return lateral_error_cost + + def get_distance_to_boundary_cost(self): + """ + This function calculates a cost with the minimum boundary distance as an argument. + If the car drives somwhere in the middle of the track far away from the boundary the cost is 0, + as such a behavior is not problematic. At a certain distance to the track boundary (safety margin) + the cost increases quadratic until it reaches a certain critical distance. + + Critical distance is where the car would touch the boundary and distances shorter than that is basically + a "crash" (cost is 1) + ---------- + OUTPUT: + value: a value between 0 (best case) and 1 (worst case) + """ + car_width = 0.28 # car width (28cm) + critical_dist = ( + car_width / 2 + ) # distance where the car is touching boundary (half of the car width) + safety_margin = ( + 0.2 + car_width / 2 + ) # general safety margin to track boundary (20cm) from car wheels (0.014) + + # car distance cost function + if self.min_car_distance < critical_dist: + return 1 + elif self.min_car_distance > safety_margin: + return 0 + else: + return ( + 1 + / ((critical_dist - safety_margin) ** 2) + * (self.min_car_distance - safety_margin) ** 2 + ) + + def get_lap_time_cost(self): + """ + This function returns a value between 0 (optimal case) and 1 (worst case) + The fastest lap time is the shortest lap time that a car can physically do (cost = 0) + In the algorithm below there is a timeout at 2*fastest_lap_time which is why + the cost is maximal 1 (worst case) + """ + cost = self.lap_time / self.fastest_lap_time - 1 + return cost + + def update_parameters(self, param_new): + """ + This function updates the parameters of interest with their new value. + ---------- + Input: + param_new: New values + """ + control_length = len(param_new[: self.number_of_l1_param]) + control_length += len(param_new[self.number_of_l1_param:]) + if control_length != (self.n_sectors + self.number_of_l1_param): + # for bug handling + rospy.logerr(f"[{self.name}] rerun the script with SAME settings !!!") + rospy.logerr(f"[{self.name}] parameter length do not match") + subprocess.call(["rosnode", "kill", "BayesOptNode"]) + sys.exit() + + if self.opt_l1params: + self.update_l1_param( + param_new[: self.number_of_l1_param] + ) # first few variables are l1 params values + if self.opt_sector_scalers: + self.update_sector_scalers( + param_new[self.number_of_l1_param:] + ) # the rest are sector scalers + + def update_l1_param(self, param_new): + """ + Update new l1 parameters using dynamic reconfigure + ---------- + Input: + param_new: New l1 parameters + """ + config = { + "t_clip_min": float(param_new[0]), + "m_l1": float(param_new[1]), + "q_l1": float(param_new[2]), + } + self.dyn_rec_client_l1params.update_configuration(config) + + def update_sector_scalers(self, param_new): + """ + Update new sector scalers using dynamic reconfigure + ---------- + Input: + param_new: New sector scalers + """ + config = {} + for i in range(self.n_sectors): + key_name = "Sector" + str(i) + config[key_name] = param_new[i] + self.dyn_rec_client_sectors.update_configuration(config) + + def set_sector_global_limit(self): + rospy.loginfo(f"[{self.name}] Setting global sector limit to 1.0") + if self.sim: + config = { + "global_limit": 2.0, + } + else: + config = { + "global_limit": 1.0, + } + self.dyn_rec_client_sectors.update_configuration(config) + + def testfunction(self, Xin): + """ + Test function (only to test bayesOpt package) + optimum = minimum = 5 + optimal Xin = [0.33, 0.33, ...] + """ + total = 5.0 + total += np.sum(np.power(Xin - 0.33, 2)) + return total + + def request_parameter(self, y_new: float) -> np.ndarray: + """ + Method that requests new parameters from the BayesOpt server. + Parameters + ---------- + INPUT : + y_new: The function value obtained from the objective/experiment. + OUTPUT : + result.x_new: the new values from BayesOpt server + ------- + numpy.ndarray + An array containing the new parameters suggested by BayesOpt server. + Order of L1 params: t_clip_min, m_l1, q_l1 + """ + goal = BayesOptGoal(y_new=y_new) + self.bayes_opt_client.send_goal(goal) + self.bayes_opt_client.wait_for_result() + result = self.bayes_opt_client.get_result() + return result.x_new # its called x_new in the bayesopt package + + ############# + # MAIN LOOP # + ############# + def optimize_loop(self): + """ + Each iteration is done with updated/new values for the parameter of interest (l1 and sector scalers). + The set of new values is given by the bayesian optimization server. + After some laps (minimum 1) the cost is calculated and sent to the same server to reveice the next new set of values. + If the optimization is done, the optimal values are set with dynamic reconfigure. + ---------- + Input: + NONE + Output: + NONE + """ + scaler = 2.0 # for timeout and punishment + + try: + rospy.wait_for_message("estimated_lap_time", LapData, timeout=30) + except rospy.exceptions.ROSException: + rospy.WARN("Timed out waiting for message on 'estimated_lap_time'") + + # initialize variables with some values + init_lap_time = ( + self.fastest_lap_time * scaler + ) # also used as upper bound, later used for timeout also + self.lap_time = init_lap_time + init_avg_lat_err = 0.3 # high value + self.avg_lat_err = init_avg_lat_err + + # Timeout and upper bounds for laptime + self.experiment_timeout = init_lap_time # [s] + self.min_car_distance = 0 # for punishment calculation + # punishment cost if lap time takes too long (longer than experiment_timeout) + high_cost_punishment = 1 + y_opt = high_cost_punishment + self.y_opt_list.append(y_opt) + y_new = high_cost_punishment # initialize with a high value + self.y_list.append(y_new) + + # print settings in terminal for overview + rospy.loginfo(f"[{self.name}] ####################### S E T T I N G S #######################") + if self.opt_l1params: + rospy.loginfo(f"[{self.name}] # Optimizing L1 parameter") + if self.opt_sector_scalers: + rospy.loginfo(f"[{self.name}] # Optimizing sector scaler") + rospy.loginfo(f"[{self.name}] # Iterations: {self.iterations} with {self.laps_per_experiment} laps per experiment" + ) + rospy.loginfo(f"[{self.name}] Ranges: ") + rospy.loginfo(f"[{self.name}] lower bound:[{self.lower_bound}]") + rospy.loginfo(f"[{self.name}] upper bound:[{self.upper_bound}]") + rospy.loginfo(f"[{self.name}] ###############################################################") + + # wait for lap data = wait for current lap to be done + try: + rospy.wait_for_message("lap_data", LapData, timeout=60) + except rospy.exceptions.ROSException: + rospy.WARN("Timed out waiting for message on 'lap_data'") + + # start iteration + for ite in range(1, 1 + self.iterations): + param_new = self.request_parameter(y_new) + self.param_list.append(param_new) + self.update_parameters(param_new) + + # start experiment to calculate new y + # temporary y only to calculate an average if lap per experiment is greater than 1 + y_temporary = 0 + + self.car_distance_to_boundary = [] # reset array: + + # For plot + lap_time_avg = 0 + avg_lat_err_avg = 0 + + param_reasonable = True + for lap_count in range(1, self.laps_per_experiment + 1): + # wait for new lap data = wait until lap is done + try: + rospy.wait_for_message( + "lap_data", LapData, timeout=self.experiment_timeout + ) # timeout such that we do not loose time with unsreasonable params + except rospy.exceptions.ROSException: + rospy.logwarn(f"[{self.name}] Lap takes too long, not reasonable parameters. Skip! Press R1" + ) + param_reasonable = False + self.skipped_iterations.append(ite) + if self.opt_l1params: + self.update_parameters( + self.l1_default_config + ) # set default values to finish lap as quickly as possible + rospy.wait_for_message( + "lap_data", LapData + ) # wait until lap is done + break # continue with new set of parameters + else: + # lap is done in a reasonable amount of time + if self.laps_per_experiment > 1: + rospy.loginfo(f"[{self.name}] {lap_count}/{self.laps_per_experiment} Laps are done") + y_temporary += ( + self.calculate_cost() + ) # sum up y_new for calulating average + lap_time_avg += self.lap_time + avg_lat_err_avg += self.avg_lat_err + + # save shortest lap_time and smallest average lat. error measured + if self.shortest_lap_time > self.lap_time: + self.shortest_lap_time = self.lap_time + if self.smallest_avg_lat_err > self.avg_lat_err: + self.smallest_avg_lat_err = self.avg_lat_err + + if param_reasonable: + # calculate averages: + lap_time_avg = lap_time_avg / self.laps_per_experiment + avg_lat_err_avg = avg_lat_err_avg / self.laps_per_experiment + y_temporary = y_temporary / self.laps_per_experiment + + y_new = y_temporary + else: + # set cost to high value (avoid choosing the same parameters) + y_new = high_cost_punishment + lap_time_avg = init_lap_time + avg_lat_err_avg = init_avg_lat_err + self.min_car_distance = 0 + + self.lap_time_list.append(lap_time_avg) + self.avg_lat_err_list.append(avg_lat_err_avg) + self.min_car_dist_list.append(self.min_car_distance) + self.y_list.append(y_new) + + # store optimal value in a separate variable + if y_new <= y_opt: + y_opt = y_new + self.param_opt = param_new + self.optimal_lap_time = lap_time_avg + self.optimal_avg_lat_err = avg_lat_err_avg + self.optimal_min_car_dist = self.min_car_distance + + self.y_opt_list.append(y_opt) + + self.update_parameters(self.param_opt) # set the optimal values + + rospy.loginfo(f"[{self.name}] -------------------------- R E S U L T S --------------------------") + rospy.loginfo(f"[{self.name}] Optimizers: {np.round(self.param_opt, 4)} ; Optimum: {np.round(y_opt, 4)}" + ) + rospy.loginfo(f"[{self.name}] Optimal lap_time average: {self.optimal_lap_time} \nOptimal avg_lat_err average: {self.optimal_avg_lat_err} \nOptimal min_car_dist: {self.optimal_min_car_dist}" + ) + rospy.loginfo(f"[{self.name}] Fastest lap_time recorded: {self.shortest_lap_time} \nSmallest avg_lat_err recorded: {self.smallest_avg_lat_err}" + ) + # TODO optimal iteration + rospy.loginfo(f"[{self.name}] -------------------------------------------------------------------") + + ############# + # VIZ+PLOTS # + ############# + def visualize_data(self, save_plot_bool=False, location=None): + # for skipped laps box: + alpha_val = 0.2 + box_color = "gray" + + # for plot saving only: + if save_plot_bool: + yaml_path = rospy.get_param("/bayesopt_config") + with open(yaml_path, "r") as file: + data = yaml.safe_load(file) + acq_func = data["acq_func"] + + x = range(1, 1 + self.iterations) + + if self.opt_l1params: # order: t_clip_min, m_l1, q_l1 + param_list_0 = [i[0] for i in self.param_list] + param_list_1 = [i[1] for i in self.param_list] + param_list_2 = [i[2] for i in self.param_list] + + # Plot the data for each graph as points + plt.figure() + plt.plot( + x, + self.y_list[1: self.iterations + 1], + label="current cost", + linestyle="-", + linewidth=2, + color="#0000FA", + ) + plt.plot( + x, + self.y_opt_list[1: self.iterations + 1], + label="optimal cost", + linestyle=":", + linewidth=3, + color="#00FA00", + ) + plt.suptitle("Bayesian Optimization: Cost Values") + plt.title( + f"Optimal cost: {round(self.y_opt_list[-1],3)}", fontsize=10 + ) # last element is optimal y + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + plt.legend() + plt.xlabel("Iterations") + plt.ylabel("value") + # mark skipped iterations: + for skipped_it in self.skipped_iterations: + # mark a box around skipped values + plt.axvspan( + skipped_it - 0.5, + skipped_it + 0.5, + alpha=alpha_val, + color=box_color, + linewidth=0, + ) + if save_plot_bool: + plotname = "cost" + self.save_plot(acq_func, plotname, location) + + # Plot the lap time + plt.figure() + plt.plot(x, self.lap_time_list, color="#9A0000") + plt.suptitle("Bayesian Optimization: Lap_time Average") + plt.title( + f"Optimal lap_time average: {round(self.optimal_lap_time,3)}", fontsize=10 + ) + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + # plt.axhline(y=self.experiment_timeout , color='black', linestyle='-', linewidth=1 , label='Timeout') # mark timeout in plot + plt.legend() + plt.xlabel("Iterations") + plt.ylabel("Lap_time Average [s]") + for skipped_it in self.skipped_iterations: + # mark a box around skipped values + plt.axvspan( + skipped_it - 0.5, + skipped_it + 0.5, + alpha=alpha_val, + color=box_color, + linewidth=0, + ) + if save_plot_bool: + plotname = "lap_time" + self.save_plot(acq_func, plotname, location) + + # Plot the average lateral error + plt.figure() + plt.plot(x, self.avg_lat_err_list, color="#FF4444") + plt.suptitle("Bayesian Optimization: Avg_lat_error Average") + plt.title( + f"Optimal avg_lat_err average: {round(self.optimal_avg_lat_err,3)}", + fontsize=10, + ) + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + plt.xlabel("Iterations") + plt.ylabel("Avg_lat_err Average [m]") + for skipped_it in self.skipped_iterations: + # mark a box around skipped values + plt.axvspan( + skipped_it - 0.5, + skipped_it + 0.5, + alpha=alpha_val, + color=box_color, + linewidth=0, + ) + if save_plot_bool: + plotname = "avg_lat_err" + self.save_plot(acq_func, plotname, location) + + # plot min car distance to track boundary + plt.figure() + plt.plot( + x, self.min_car_dist_list, color="#FF0044" + ) # [1:] as first value is from the first "calculate_cost" and not relevant + plt.suptitle("Bayesian Optimization: Min dististance to boundary") + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + plt.xlabel("Iterations") + plt.ylabel("Min_dist [m]") + for skipped_it in self.skipped_iterations: + # mark a box around skipped values + plt.axvspan( + skipped_it - 0.5, + skipped_it + 0.5, + alpha=alpha_val, + color=box_color, + linewidth=0, + ) + if save_plot_bool: + plotname = "min_dist" + self.save_plot(acq_func, plotname, location) + + # parameter: l1 param + if self.opt_l1params: + plt.figure() # on separate window + plt.scatter(x, param_list_0, label="t_clip_min", color="#A487CA") + plt.scatter(x, param_list_1, label="m_l1", color="#FFB347") + plt.scatter(x, param_list_2, label="q_l1", color="#4DA6A6") + plt.suptitle("Bayesian Optimization: Parameter Samples") + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + subtitle = "" # write optimal values into subtitle + for element in self.param_opt[ + : self.number_of_l1_param + ]: # round each value before putting it in subtitle + subtitle += str(round(element, 3)) + ", " + plt.title(f"Optimizer: {subtitle}", fontsize=10) + plt.legend() + plt.xlabel("Iterations") + plt.ylabel("value") + for skipped_it in self.skipped_iterations: + # mark a box around skipped values + plt.axvspan( + skipped_it - 0.5, + skipped_it + 0.5, + alpha=alpha_val, + color=box_color, + linewidth=0, + ) + if save_plot_bool: + plotname = "l1_param" + self.save_plot(acq_func, plotname, location) + + # parameter: sector scalers + if self.opt_sector_scalers: + plt.figure() # on separate window + plt.suptitle("Bayesian Optimization: Sector Scalers") + subtitle = "" # write optimal values into subtitle + for element in self.param_opt[ + self.number_of_l1_param: + ]: # round each value before putting it in subtitle + subtitle += str(round(element, 3)) + ", " + plt.title(f"Optimizer: {subtitle}", fontsize=10) + plt.grid(True, linewidth=0.5, color="gray", linestyle="--") + for sector_idx in range( + self.n_sectors + ): # get the sector values from each sector + sector_scalers = [ + i[sector_idx + (self.number_of_l1_param)] for i in self.param_list + ] # get array of sectors of each iteration + plt.scatter( + x, + sector_scalers, + label="Sector" + str(sector_idx), + alpha=1.0 / (sector_idx + 1), + color="black", + ) # plot all sector scalers (of each iteration) of current sector (e.g. sector 0) + plt.legend() + plt.xlabel("Iterations") + plt.ylabel("value") + if save_plot_bool: + plotname = "sectors" + self.save_plot(acq_func, plotname, location) + + plt.show() + + def save_plot(self, acq_func, plotname, location): + filename = acq_func + "_" + plotname + "_" + filename += str(self.iterations) + "ite_" + filename += str(self.laps_per_experiment) + "lpe_" + filename += ".png" + + home_dir = os.path.expanduser("~") # Get the user's home directory + path = os.path.join(home_dir, location, filename) + plt.savefig(path) + + def get_racecar_version(self): + racecar_version = rospy.get_param("/racecar_version") # NUCX or SIM + return racecar_version + + +if __name__ == "__main__": + name = "param_optimizer" + rospy.init_node(name, anonymous=False, log_level=rospy.WARN) + bayesopt = BayesOptimizer(name) + rospy.spin() diff --git a/f110_utils/nodes/random_obstacle_publisher/CMakeLists.txt b/f110_utils/nodes/random_obstacle_publisher/CMakeLists.txt new file mode 100644 index 0000000..11f30de --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.0.2) +project(random_obstacle_publisher) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + rospy + std_msgs + f110_msgs +) + +# call setup.py +catkin_python_setup() + +# add_executable(gb_traj_publisher src/gb_traj_publisher.py) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +# catkin_package( +# INCLUDE_DIRS include +# LIBRARIES f110_planner +# CATKIN_DEPENDS rospy geometry_msgs f110_msgs std_msgs +# DEPENDS system_lib +# ) diff --git a/f110_utils/nodes/random_obstacle_publisher/README.md b/f110_utils/nodes/random_obstacle_publisher/README.md new file mode 100644 index 0000000..0abc065 --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/README.md @@ -0,0 +1,6 @@ +# Random Obstacle Publisher + +TODO: legacy? + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/random_obstacle_publisher/launch/random_obstacle_publisher.launch b/f110_utils/nodes/random_obstacle_publisher/launch/random_obstacle_publisher.launch new file mode 100644 index 0000000..4ee2e94 --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/launch/random_obstacle_publisher.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/random_obstacle_publisher/package.xml b/f110_utils/nodes/random_obstacle_publisher/package.xml new file mode 100644 index 0000000..6f81cd7 --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/package.xml @@ -0,0 +1,64 @@ + + + random_obstacle_publisher + 0.0.0 + The obstacle_publisher package + + + + + Jonathan Becker + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + rospy + f110_msgs + std_msgs + nav_msgs + + + + + + + + diff --git a/f110_utils/nodes/random_obstacle_publisher/setup.py b/f110_utils/nodes/random_obstacle_publisher/setup.py new file mode 100644 index 0000000..f84f33d --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['random_obstacle_publisher'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/__init__.py b/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/random_obstacle_publisher.py b/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/random_obstacle_publisher.py new file mode 100755 index 0000000..62d07e7 --- /dev/null +++ b/f110_utils/nodes/random_obstacle_publisher/src/random_obstacle_publisher/random_obstacle_publisher.py @@ -0,0 +1,110 @@ +#!/usr/bin/env python3 + +import rospy +from f110_msgs.msg import ObstacleArray, Obstacle, WpntArray, LapData +from std_msgs.msg import Bool +from nav_msgs.msg import OccupancyGrid, Odometry +from numpy import random +import numpy as np +import math + +class ObstaclePublisher: + def __init__(self): + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.odom_cb) + rospy.Subscriber('/global_waypoints', WpntArray, self.global_trajectory_cb) + self.obstacle_pub = rospy.Publisher('/obstacles', ObstacleArray, queue_size=10) + + self.n_sectors = rospy.get_param('~n_obstacles') + 1 + self.publish_at_lookahead = rospy.get_param('~publish_at_lookahead') + self.lookahead_distance = rospy.get_param('~lookahead_distance') + self.obstacle_width = rospy.get_param('~obstacle_width') + self.obstacle_length = rospy.get_param('~obstacle_length') + self.obstacle_max_d_from_traj = rospy.get_param('~obstacle_max_d_from_traj') + seed = rospy.get_param('~rnd_seed') + + self.obstacle_array = [] + self.has_traj = False + self.has_odom = False + self.gen = random.default_rng(seed) + self.s = 0.0 + # loop while not shutdown + node_rate = rospy.Rate(25) # 25hz + # start_time = rospy.Time.now() + rospy.sleep(0.1) + while (not self.has_traj or not self.has_odom) and not rospy.is_shutdown(): + node_rate.sleep() + + self.update_obstacles() + + while not rospy.is_shutdown(): + self.publish_obstacles() + node_rate.sleep() + + def update_obstacles(self): + if self.has_traj: + self.obstacle_array.clear() + self.final_s = self.gb_wpnts[-1].s_m + s_spacing = self.final_s / self.n_sectors + margin = max(0.5, self.obstacle_length) + for sec in range(self.n_sectors): + s_start = sec * s_spacing + s_end = s_start + s_spacing - margin + ob = self.generate_random_obstacle(sec, s_start, s_end) + self.obstacle_array.append(ob) + + def generate_random_obstacle(self, id, s_start, s_end): + ob = Obstacle() + ob.id = id + # random s within s_start and s_end + p1 = self.gen.random() + ob.s_start = s_start + (s_end - s_start) * p1 + ob.s_end = ob.s_start + self.obstacle_length + + # get track bounds at s_start + wpt_id = self.get_closest_point_on_traj(ob.s_start) + track_right = -min(self.gb_wpnts[wpt_id].d_right, self.obstacle_max_d_from_traj) # negative + track_left = min(self.gb_wpnts[wpt_id].d_left - self.obstacle_width, self.obstacle_max_d_from_traj) + + p2 = self.gen.random() + ob.d_right = track_right + (track_left - track_right) * p2 + ob.d_left = ob.d_right + self.obstacle_width + ob.is_actually_a_gap = False + + return ob + + def get_closest_point_on_traj(self, s): + min_d = 1000 + id = 0 + for wpt in self.gb_wpnts: + d = (wpt.s_m-s)**2 + if d < min_d: + min_d = d + id = wpt.id + return id + + def publish_obstacles(self): + obstacle_msg = ObstacleArray() + obstacle_msg.header.stamp = rospy.Time.now() + obstacle_msg.header.frame_id = "frenet" + if self.publish_at_lookahead: + for ob in self.obstacle_array: + # too lazy to handle wrapping + dist = math.fmod(self.s + self.lookahead_distance, self.final_s) - ob.s_start + if dist > 0 and dist < (self.lookahead_distance + 1): + obstacle_msg.obstacles.append(ob) + else: + obstacle_msg.obstacles = self.obstacle_array + self.obstacle_pub.publish(obstacle_msg) + + def global_trajectory_cb(self, msg): + self.has_traj = True + self.gb_wpnts = msg.wpnts + + def odom_cb(self, msg): + self.has_odom = True + self.s = msg.pose.pose.position.x + + +if __name__ == '__main__': + rospy.init_node('random_obstacle_publisher') + DummyObstacles = ObstaclePublisher() \ No newline at end of file diff --git a/f110_utils/nodes/sector_tuner/CMakeLists.txt b/f110_utils/nodes/sector_tuner/CMakeLists.txt new file mode 100644 index 0000000..4275536 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(sector_tuner) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/dyn_sect_tuner.cfg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +#generate_dynamic_reconfigure_options( +# cfg/dyn_sect_tuner.cfg +# cfg/DynReconf2.cfg +#) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES sector_tuner +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/sector_tuner.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +#add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/sector_tuner_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_sector_tuner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/sector_tuner/README.md b/f110_utils/nodes/sector_tuner/README.md new file mode 100644 index 0000000..39bb87e --- /dev/null +++ b/f110_utils/nodes/sector_tuner/README.md @@ -0,0 +1,71 @@ +# Sector Tuner +small package for handling the sector tuning. +It takes care of providing the GUI for slicing the racing line in sectors and then publishes the sectors and the corresponding scaled trajectories and scaling parameters once the system is running. + +## Sector slicer +### Basic usage + +An example usage is in `/base_system/f1tenth_system/racecar/racecar/launch/pbl_teleop.launch`, where the overtaking sector slicer is launched as follows: +```xml + + + + +``` +This specifically provides the functionality to slice the sectors. + +### How does it work + +One may launch the simulator with mapping enabled: +``` +roslaunch f1tenth_simulator pbl_sim.launch mapping_bool:=True map_name:=berlin +``` +Then the sector slicer will open a GUI for defining the sectors and generate `sector_scaling.yaml` within the maps folder. + +Additionally it will copy said `yaml` into the `sector_tuner` package and rebuild the package for the dynamic reconf build [here](./cfg/dyn_sect_tuner.cfg). +**You will need to use a freshly sourced roscore from here on.** + +Now you can launch the sim without the mapping bool and launch `rqt > Plugins > Configuration > Dynamic Reconfigure`. Enjoy dynamic reconfigure from here on. + +## Sector server + +### Basic usage +An example is in `/base_system/f1tenth_system/racecar/racecar/launch/pbl_teleop.launch`, where the sector server is launched as follows: +```xml + + + + + + + +``` +The first launched node provides the dynamic reconfigurable parameters, i.e. the sectors starts and end plus the velocity scaling. +Then the second launch file provides the scaled trajectory, with smooth inerpolation between the sectors. + +The trajectory (as an [`f110_msgs/WpntArray`](../../../f110_utils/libs/f110_msgs/msg/WpntArray.msg)) is published at the following topic +``` +/global_waypoints_scaled +``` +The shortest path trajectory is also published at the following topic +``` +/global_waypoints_scaled/shortest_path +``` + +### How does it work + +The dynamic parameters server provides the info needed at either the following parameter: +``` +/dyn_sector_server +``` +or at the following topic (message type: [`dynamic_reconfigure/Config`](http://docs.ros.org/en/noetic/api/dynamic_reconfigure/html/msg/Config.html)) +``` +/dyn_sector_server/parameter_updates +``` +The velocity scaler then listens to the parameters' update and publishes the scaled trajectory by linearly interpolating between sectors, starting `hl_points` points before the end of a sector and finishing `hl_points` points after the beginning of the new sectors (last time I checked `hl_points` == 10). + +ROS parameters: + - `debug_plot` : it activates a matplotlib plot to visualise the the velocity scaling across the whole track. Unfortunately it breaks down the publishing of the scaled waypoints, therefore it is only for debugging purposes. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/sector_tuner/cfg/dyn_sect_tuner.cfg b/f110_utils/nodes/sector_tuner/cfg/dyn_sect_tuner.cfg new file mode 100644 index 0000000..e1e939e --- /dev/null +++ b/f110_utils/nodes/sector_tuner/cfg/dyn_sect_tuner.cfg @@ -0,0 +1,34 @@ +#!/usr/bin/env python3 +PACKAGE = "sector_tuner" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('sector_tuner') +yaml_path = os.path.join(ros_path, 'cfg/speed_scaling.yaml') +if os.path.isfile(yaml_path): + with open(yaml_path) as file: + sector_dict = yaml.load(file, Loader=yaml.FullLoader) + + gen = ParameterGenerator() + + gen.add("global_limit", double_t, 0, "Velocity scaling applied globally", sector_dict['global_limit'], 0, 1) + + only_sectors = {k: v for k, v in sector_dict.items() if k.startswith('Sector')} + + i = 0 + #Generate dynamic reconfigure according to how many sectors are defined + for key, item in only_sectors.items(): + #name, paramtype, level, description, default, min, max + gen.add("Sector" + str(i), double_t, 0, "Sector scaling from s: {} - {} [m]".format(item['start'], item['end']), item['scaling'], 0, 1) + gen.add("OnlyFTG" + str(i), bool_t, 1, "Use only FTG in Sector{}".format(i), item['only_FTG']) + gen.add("NoFTG" + str(i), bool_t, 2, "No FTG in Sector{}".format(i), item['no_FTG']) + i += 1 +else: + gen = ParameterGenerator() + gen.add("global_limit", double_t, 0, "Velocity scaling applied globally", 0.69, 0, 1) + gen.add("Sector" + str(0), double_t, 0, "Sector scaling from s: {} - {} [m]".format(0, 69), 0.69, 0, 1) + gen.add("OnlyFTG" + str(0), bool_t, 1, "Use only FTG in Sector{}".format(0), False) + gen.add("NoFTG" + str(0), bool_t, 2, "No FTG in Sector{}".format(0), False) + +exit(gen.generate(PACKAGE, "dynamic_sector", "dyn_sect_tuner")) diff --git a/f110_utils/nodes/sector_tuner/data/.gitkeep b/f110_utils/nodes/sector_tuner/data/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/sector_tuner/launch/sector_tuner.launch b/f110_utils/nodes/sector_tuner/launch/sector_tuner.launch new file mode 100644 index 0000000..7e41429 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/launch/sector_tuner.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/sector_tuner/launch/velocity_scaler.launch b/f110_utils/nodes/sector_tuner/launch/velocity_scaler.launch new file mode 100644 index 0000000..eaf9f75 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/launch/velocity_scaler.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/f110_utils/nodes/sector_tuner/package.xml b/f110_utils/nodes/sector_tuner/package.xml new file mode 100644 index 0000000..687c3a1 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/package.xml @@ -0,0 +1,71 @@ + + + sector_tuner + 0.0.0 + The sector_tuner package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + diff --git a/f110_utils/nodes/sector_tuner/scripts/finish_sector.sh b/f110_utils/nodes/sector_tuner/scripts/finish_sector.sh new file mode 100755 index 0000000..f861892 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/scripts/finish_sector.sh @@ -0,0 +1,9 @@ +#!/bin/bash + +source ~/.bashrc + +cd ~/catkin_ws + +#Clean and build sector tuner to force refresh of dynamic reconfigure +catkin clean sector_tuner +catkin build sector_tuner \ No newline at end of file diff --git a/f110_utils/nodes/sector_tuner/src/sector_server.py b/f110_utils/nodes/sector_tuner/src/sector_server.py new file mode 100755 index 0000000..d14b71e --- /dev/null +++ b/f110_utils/nodes/sector_tuner/src/sector_server.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +import rospy +import numpy as np +from f110_msgs.msg import Wpnt, WpntArray +from tf.transformations import euler_from_quaternion, quaternion_from_euler +from dynamic_reconfigure.server import Server +from sector_tuner.cfg import dyn_sect_tunerConfig +from visualization_msgs.msg import Marker, MarkerArray + +def callback(config, level): + return config + +class SectorPublisher: + def __init__(self): + self.glb_waypoints = None + self.sector_pub = rospy.Publisher('/sector_markers', MarkerArray, queue_size=10) + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + + def glb_wpnts_cb(self, data): + self.glb_waypoints = [] + for waypoint in data.wpnts: + self.glb_waypoints.append([waypoint.x_m, waypoint.y_m, waypoint.s_m]) + + def pub_sector_markers(self): + rate = rospy.Rate(1) + while (not rospy.is_shutdown()): + if self.glb_waypoints is None: + continue + + sectors_params = rospy.get_param("/map_params") + n_sectors = sectors_params['n_sectors'] + sec_markers = MarkerArray() + + for i in range(n_sectors): + s = sectors_params[f"Sector{i}"]['start'] + if s == (len(self.glb_waypoints) - 1): + theta = np.arctan2((self.glb_waypoints[0][1] - self.glb_waypoints[s][1]),(self.glb_waypoints[0][0] - self.glb_waypoints[s][0])) + else: + theta = np.arctan2((self.glb_waypoints[s+1][1] - self.glb_waypoints[s][1]),(self.glb_waypoints[s+1][0] - self.glb_waypoints[s][0])) + quaternions = quaternion_from_euler(0, 0, theta) + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.type = marker.ARROW + marker.scale.x = 0.5 + marker.scale.y = 0.05 + marker.scale.z = 0.15 + marker.color.r = 1.0 + marker.color.g = 0.0 + marker.color.b = 0.0 + marker.color.a = 1.0 + marker.pose.position.x = self.glb_waypoints[s][0] + marker.pose.position.y = self.glb_waypoints[s][1] + marker.pose.position.z = 0 + marker.pose.orientation.x = quaternions[0] + marker.pose.orientation.y = quaternions[1] + marker.pose.orientation.z = quaternions[2] + marker.pose.orientation.w = quaternions[3] + marker.id = i + sec_markers.markers.append(marker) + + marker_text = Marker() + marker_text.header.frame_id = "map" + marker_text.header.stamp = rospy.Time.now() + marker_text.type = marker_text.TEXT_VIEW_FACING + marker_text.text = f"Start Sector {i}" + marker_text.scale.z = 0.4 + marker_text.color.r = 0.2 + marker_text.color.g = 0.1 + marker_text.color.b = 0.1 + marker_text.color.a = 1.0 + marker_text.pose.position.x = self.glb_waypoints[s][0] + marker_text.pose.position.y = self.glb_waypoints[s][1] + marker_text.pose.position.z = 1.5 + marker_text.pose.orientation.x = 0.0 + marker_text.pose.orientation.y = 0.0 + marker_text.pose.orientation.z = 0.0436194 + marker_text.pose.orientation.w = 0.9990482 + marker_text.id = i + n_sectors + sec_markers.markers.append(marker_text) + self.sector_pub.publish(sec_markers) + rate.sleep() + +if __name__ == "__main__": + rospy.init_node("dynamic_sector_tuner", anonymous=False) + print('Dynamic Sector Server Launched...') + srv = Server(dyn_sect_tunerConfig, callback) + sec_pub = SectorPublisher() + sec_pub.pub_sector_markers() diff --git a/f110_utils/nodes/sector_tuner/src/sector_slicing.py b/f110_utils/nodes/sector_tuner/src/sector_slicing.py new file mode 100755 index 0000000..c9be006 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/src/sector_slicing.py @@ -0,0 +1,161 @@ +#!/usr/bin/env python3 +import rospy, rospkg +import yaml, os, subprocess, time +from f110_msgs.msg import WpntArray +from visualization_msgs.msg import MarkerArray +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.widgets import Slider, Button +from matplotlib.patches import Arrow + +class SectorSlicer: + """ + Node for listening to gb waypoints and running a GUI to tune the sectors s.t. a yaml can be exported for dynamic reconfigure + """ + def __init__(self): + rospy.init_node('sector_node', anonymous=True) + + self.glb_wpnts = None + self.track_bounds = None + + self.speed_scaling = 0.5 + self.glob_slider_s = 0 + self.sector_pnts = [0] #Sector always has tostart at 0 + + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + rospy.Subscriber('/trackbounds/markers', MarkerArray, self.bounds_cb) + + #rosparam to define yaml dir but filename will always be speed_scaling.yaml + self.yaml_dir = rospy.get_param('~save_dir') + + def glb_wpnts_cb(self, data): + self.glb_wpnts = data + + def bounds_cb(self, data): + self.track_bounds = data + + def slice_loop(self): + #Wait until we get the waypoints + print('Waiting for global waypoints...') + rospy.wait_for_message('/global_waypoints', WpntArray) + + #Select Sectors via the GUI + self.sector_gui() + print('Selected Sector IDXs:', self.sector_pnts) + + #Write sectors to yaml + self.sectors_to_yaml() + + def sector_gui(self): + #get wpnt message in list format for plotting + s = [] + v = [] + x = [] + y = [] + for wpnt in self.glb_wpnts.wpnts: + s.append(wpnt.s_m) + v.append(wpnt.vx_mps) + x.append(wpnt.x_m) + y.append(wpnt.y_m) + s = np.array(s) + x = np.array(x) + y = np.array(y) + + # plot raceline without sector points + fig, (ax1, axslider, axselect, axfinish) = plt.subplots(4, 1, gridspec_kw={'height_ratios': [5, 1, 1, 1]}) + ax1.plot(x, y, "r-", linewidth=0.7) + ax1.plot([mrk.pose.position.x for mrk in self.track_bounds.markers], [mrk.pose.position.y for mrk in self.track_bounds.markers], 'g-', linewidth=0.4) + ax1.grid() + ax1.set_aspect("equal", "datalim") + ax1.set_xlabel("east in m") + ax1.set_ylabel("north in m") + #Plot arrow at start + arr_par = {'x': x[0], 'dx': 10 * (x[1] - x[0]), + 'y': y[0], 'dy': 10 * (y[1] - y[0]), + 'color': 'gray', + 'width': 0.5} + ax1.add_artist(Arrow(**arr_par)) + + #Slider stuff + def update_s(val): + idx = int(slider.val) - 1 + self.glob_slider_s = idx #update the global slider s + update_map(x=x, y=y, cur_s=idx) + fig.canvas.draw_idle() + + #Btn stuff + def select_s(event): + #When pressing button append the new position + self.sector_pnts.append(self.glob_slider_s) + update_map(x=x, y=y, cur_s=self.glob_slider_s) + + def finish(event): + plt.close() + + #Sectors always end at end + self.sector_pnts.append(len(s)) + + #Eliminate duplicates if necessary + self.sector_pnts = sorted(list(set(self.sector_pnts))) + return + + def update_map(x, y, cur_s): + ax1.cla() + ax1.plot(x, y, "r-", linewidth=0.7) + ax1.plot([mrk.pose.position.x for mrk in self.track_bounds.markers], [mrk.pose.position.y for mrk in self.track_bounds.markers], 'g-', linewidth=0.4) + ax1.grid() + ax1.set_aspect("equal", "datalim") + ax1.set_xlabel("east in m") + ax1.set_ylabel("north in m") + ax1.scatter(x[cur_s], y[cur_s]) + if len(self.sector_pnts) > 0: + ax1.scatter(x[self.sector_pnts], y[self.sector_pnts], c='red') + + #Matplotlib widgets for GUI + slider = Slider(axslider, 'S [m]', 0, len(s), valinit=0, valfmt='%d') + slider.on_changed(update_s) + + btn_select = Button(axselect, 'Select S') + btn_select.on_clicked(select_s) + + btn_finish = Button(axfinish, 'Done') + btn_finish.on_clicked(finish) + + plt.show() + + def sectors_to_yaml(self): + #Create yaml with default speed scaling values + n_sectors = len(self.sector_pnts) - 1 + dict_file = {'global_limit': self.speed_scaling, 'n_sectors': n_sectors} + for i in range(0, n_sectors): + #Add sectors with scaling field + dict_file['Sector' + str(i)] = {'start':self.sector_pnts[i] if i == 0 else self.sector_pnts[i] + 1, + 'end':self.sector_pnts[i+1], + 'scaling':self.speed_scaling} + #Add only_FTG field to sector + dict_file['Sector' + str(i)].update({'only_FTG': False}) + #Add no_FTG field to sector + dict_file['Sector' + str(i)].update({'no_FTG': False}) + + #Save yaml to the respective maps folder + yaml_path = os.path.join(self.yaml_dir, 'speed_scaling.yaml') + with open(yaml_path, 'w') as file: + print('Dumping to {}: {}'.format(yaml_path, dict_file)) + yaml.dump(dict_file, file, sort_keys=False) + + #Copy content to sector_tuner package for catkin build + ros_path = rospkg.RosPack().get_path('sector_tuner') + yaml_path = os.path.join(ros_path, 'cfg/speed_scaling.yaml') + with open(yaml_path, 'w') as file: + print('Dumping to {}: {}'.format(yaml_path, dict_file)) + yaml.dump(dict_file, file, sort_keys=False) + + #Directly build the sector_tuner package + time.sleep(1) + print('Copying and writing the yaml to sector_tuner package and building catkin for next use...') + shell_dir = os.path.join(ros_path, 'scripts/finish_sector.sh') + subprocess.Popen(shell_dir, shell=True) + +if __name__ == "__main__": + sector_slicer = SectorSlicer() + sector_slicer.slice_loop() \ No newline at end of file diff --git a/f110_utils/nodes/sector_tuner/src/vel_scaler_node.py b/f110_utils/nodes/sector_tuner/src/vel_scaler_node.py new file mode 100755 index 0000000..8a1e7c7 --- /dev/null +++ b/f110_utils/nodes/sector_tuner/src/vel_scaler_node.py @@ -0,0 +1,170 @@ +#! /usr/bin/env python3 + +import rospy +import numpy as np +import matplotlib.pyplot as plt +from f110_msgs.msg import WpntArray +from dynamic_reconfigure.msg import Config + + +class VelocityScaler: + """ + Sector scaler for the velocity of the global waypoints + """ + + def __init__(self, debug_plot: bool = False) -> None: + self.debug_plot = rospy.get_param("/velocity_scaler/debug_plot") + + # sectors params + self.glb_wpnts_og = None + self.glb_wpnts_scaled = None + self.glb_wpnts_sp_og = None + self.glb_wpnts_sp_scaled = None + + # get initial scaling + self.sectors_params = rospy.get_param("/map_params") + self.n_sectors = self.sectors_params['n_sectors'] + + # dyn params sub + self.glb_wpnts_name = "/global_waypoints" + rospy.Subscriber("/dyn_sector_server/parameter_updates", Config, self.dyn_param_cb) + rospy.Subscriber(self.glb_wpnts_name, WpntArray, self.glb_wpnts_cb) + rospy.Subscriber(self.glb_wpnts_name+"/shortest_path", WpntArray, self.glb_wpnts_sp_cb) + + # new glb_waypoints pub + self.scaled_points_pub = rospy.Publisher("/global_waypoints_scaled", WpntArray, queue_size=10) + self.scaled_points_sp_pub = rospy.Publisher("/global_waypoints_scaled/shortest_path", WpntArray, queue_size=10) + + def glb_wpnts_cb(self, data:WpntArray): + """ + Saves the global waypoints + """ + self.glb_wpnts_og = data + + def glb_wpnts_sp_cb(self, data:WpntArray): + """ + Saves the global waypoints + """ + self.glb_wpnts_sp_og = data + + def dyn_param_cb(self, params:Config): + """ + Notices the change in the parameters and scales the global waypoints + """ + # get global limit + self.sectors_params['global_limit'] = params.doubles[0].value + + # update params + for i in range(self.n_sectors): + self.sectors_params[f"Sector{i}"]['scaling'] = np.clip( + params.doubles[i+1].value, 0, self.sectors_params['global_limit'] + ) + + rospy.loginfo(self.sectors_params) + + def get_vel_scaling(self, s): + """ + Gets the dynamically reconfigured velocity scaling for the points. + Linearly interpolates for points between two sectors + + Parameters + ---------- + s + s parameter whose sector we want to find + """ + hl_change = 10 + + if self.n_sectors > 1: + for i in range(self.n_sectors): + if i == 0 : + if (s >= self.sectors_params[f'Sector{i}']['start']) and (s < self.sectors_params[f'Sector{i}']['start'] + hl_change): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i}']['start']-hl_change, self.sectors_params[f'Sector{i}']['start']+hl_change], + fp=[self.sectors_params[f'Sector{self.n_sectors-1}']['scaling'], self.sectors_params[f'Sector{i}']['scaling']] + ) + elif (s >= self.sectors_params[f'Sector{i}']['start'] + hl_change) and (s < self.sectors_params[f'Sector{i+1}']['start'] - hl_change): + scaler = self.sectors_params[f"Sector{i}"]['scaling'] + elif (s >= self.sectors_params[f'Sector{i+1}']['start'] - hl_change) and (s < self.sectors_params[f'Sector{i+1}']['start']): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i+1}']['start']-hl_change, self.sectors_params[f'Sector{i+1}']['start']+hl_change], + fp=[self.sectors_params[f'Sector{i}']['scaling'], self.sectors_params[f'Sector{i+1}']['scaling']] + ) + elif i != self.n_sectors-1: + if (s >= self.sectors_params[f'Sector{i}']['start']) and (s < self.sectors_params[f'Sector{i}']['start'] + hl_change): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i}']['start']-hl_change, self.sectors_params[f'Sector{i}']['start']+hl_change], + fp=[self.sectors_params[f'Sector{i-1}']['scaling'], self.sectors_params[f'Sector{i}']['scaling']] + ) + elif (s >= self.sectors_params[f'Sector{i}']['start'] + hl_change) and (s < self.sectors_params[f'Sector{i+1}']['start'] - hl_change): + scaler = self.sectors_params[f"Sector{i}"]['scaling'] + elif (s >= self.sectors_params[f'Sector{i+1}']['start'] - hl_change) and (s < self.sectors_params[f'Sector{i+1}']['start']): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i+1}']['start']-hl_change, self.sectors_params[f'Sector{i+1}']['start']+hl_change], + fp=[self.sectors_params[f'Sector{i}']['scaling'], self.sectors_params[f'Sector{i+1}']['scaling']] + ) + else: + if (s >= self.sectors_params[f'Sector{i}']['start']) and (s < self.sectors_params[f'Sector{i}']['start'] + hl_change): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i}']['start']-hl_change, self.sectors_params[f'Sector{i}']['start']+hl_change], + fp=[self.sectors_params[f'Sector{i-1}']['scaling'], self.sectors_params[f'Sector{i}']['scaling']] + ) + elif (s >= self.sectors_params[f'Sector{i}']['start'] + hl_change) and (s < self.sectors_params[f'Sector{i}']['end'] - hl_change): + scaler = self.sectors_params[f"Sector{i}"]['scaling'] + elif (s >= self.sectors_params[f'Sector{i}']['end'] - hl_change): + scaler = np.interp( + x=s, + xp=[self.sectors_params[f'Sector{i}']['end']-hl_change, self.sectors_params[f'Sector{i}']['end']+hl_change], + fp=[self.sectors_params[f'Sector{i}']['scaling'], self.sectors_params[f'Sector{0}']['scaling']] + ) + elif self.n_sectors == 1: + scaler = self.sectors_params["Sector0"]['scaling'] + + return scaler + + def scale_points(self): + """ + Scales the global waypoints' velocities + """ + scaling = [] + + if self.glb_wpnts_scaled is None: + self.glb_wpnts_scaled = self.glb_wpnts_og + self.glb_wpnts_sp_scaled = self.glb_wpnts_sp_og + + for i, wpnt in enumerate(self.glb_wpnts_og.wpnts): + vel_scaling = self.get_vel_scaling(i) + new_vel = wpnt.vx_mps*vel_scaling + self.glb_wpnts_scaled.wpnts[i].vx_mps = new_vel + scaling.append(self.get_vel_scaling(i)) + + if self.debug_plot: + plt.clf() + plt.plot(scaling) + plt.legend(['og', 'scaled']) + plt.ylim(0,1) + plt.show() + + + def loop(self): + rospy.loginfo("Waiting for global waypoints...") + rospy.wait_for_message(self.glb_wpnts_name, WpntArray) + rospy.loginfo("Global waypoints received!") + + # initialise scaled points + self.scale_points() + + run_rate = rospy.Rate(2) + while not rospy.is_shutdown(): + self.scale_points() + self.scaled_points_pub.publish(self.glb_wpnts_scaled) + run_rate.sleep() + +if __name__ == '__main__': + rospy.init_node("vel_scaler") + vel_scaler = VelocityScaler() + vel_scaler.loop() diff --git a/f110_utils/nodes/set_pose/CMakeLists.txt b/f110_utils/nodes/set_pose/CMakeLists.txt new file mode 100644 index 0000000..ca3a092 --- /dev/null +++ b/f110_utils/nodes/set_pose/CMakeLists.txt @@ -0,0 +1,206 @@ +cmake_minimum_required(VERSION 3.0.2) +project(set_pose) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES f110_planner +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/f110_planner.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/f110_planner_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_f110_planner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/set_pose/README.md b/f110_utils/nodes/set_pose/README.md new file mode 100644 index 0000000..35c46f3 --- /dev/null +++ b/f110_utils/nodes/set_pose/README.md @@ -0,0 +1,22 @@ +# Set Pose + +This package provides the capacities to change the position estimate of the real car. +It is particularly useful at startup, when the localization system has not converged and therefore automatic driving cannot be launched right away. +This package can however be also useful in other circumstances when the car localization system has not properly converged, e.g. after a crash. + +## Basic usage +The package inclusion in a launch file can be seen in the stack master [`base_system`](../../../stack_master/launch/base_system.launch) launch file. +```xml + + + + + + +``` + +## How does it works +The pose can be set easily with the "2d Pose Estimate" button in the RViz interface. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/set_pose/package.xml b/f110_utils/nodes/set_pose/package.xml new file mode 100644 index 0000000..832711c --- /dev/null +++ b/f110_utils/nodes/set_pose/package.xml @@ -0,0 +1,68 @@ + + + set_pose + 0.0.0 + The f110_planner package + + + + + icra_crew + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/f110_utils/nodes/set_pose/src/set_pose_node.py b/f110_utils/nodes/set_pose/src/set_pose_node.py new file mode 100755 index 0000000..902dd16 --- /dev/null +++ b/f110_utils/nodes/set_pose/src/set_pose_node.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 + +import rospy +from geometry_msgs.msg import PoseWithCovarianceStamped +import subprocess + + +class SetInitialPose(): + def __init__(self): + rospy.init_node('setpose', anonymous=True) + + rospy.on_shutdown(self.shutdown) + + # '/home/icra_crew/catkin_ws/src/f1tenth_system/racecar/racecar/config/common/slam' + self.CONFIG_DIR = rospy.get_param('set_slam_pose_node/config_dir') + self.CONFIG_BASE = rospy.get_param('set_slam_pose_node/config_base') # 'f110_2d_loc.lua' + + # A variable to hold the initial pose of the robot to be set by the user in RViz + self.initial_pose = PoseWithCovarianceStamped() + self.ready = False + + # Get the initial pose from the user + rospy.loginfo("Click the 2D Pose Estimate button in RViz to set the robot's pose...") + + #rospy.wait_for_message('initialpose', PoseWithCovarianceStamped) + rospy.Subscriber('initialpose', PoseWithCovarianceStamped, self.update_initial_pose) + + # 0 is the one we saved during mapping, so in loc only we start trajectory 1 + self.trajectory_num = 1 + + while not rospy.is_shutdown(): + rospy.sleep(1) + + def update_initial_pose(self, msg): + print('initial pos', msg.pose.pose.position) + print('initial orientation', msg.pose.pose.orientation) + self.initial_pose = msg + x = msg.pose.pose.orientation.x + y = msg.pose.pose.orientation.y + z = msg.pose.pose.orientation.z + w = msg.pose.pose.orientation.w + xp = msg.pose.pose.position.x + yp = msg.pose.pose.position.y + zp = msg.pose.pose.position.z + + s = 'rosservice call /finish_trajectory ' + str(self.trajectory_num) + print(s) + process = subprocess.Popen( + s, stdout=subprocess.PIPE, stderr=None, shell=True) + output = process.communicate() + # print(output[0]) + + s = 'rosservice call /start_trajectory "{configuration_directory: ' + s = s + '"' + self.CONFIG_DIR + '"' + s = s + ', configuration_basename: "' + self.CONFIG_BASE + \ + '", use_initial_pose: "true", initial_pose: ' + s = s + ' {position: {x: ' + \ + str(xp) + ', y: ' + str(yp) + ', z: '+str(zp) + '}' + s = s + ', orientation: {x: ' + str(x) + ', y: ' + str(y) + ', z: '+str( + z) + ', w: '+str(w)+'}}, relative_to_trajectory_id: 0}"' + + print("Calling:", s) + process = subprocess.Popen(s, stdout=subprocess.PIPE, stderr=None, shell=True) + output = process.communicate() + + # print(output[0]) + self.trajectory_num += 1 + + def shutdown(self): + rospy.loginfo("Stopping setinitpose...") + + +if __name__ == '__main__': + try: + SetInitialPose() + rospy.spin() + except rospy.ROSInterruptException: + rospy.loginfo("Localize finished.") diff --git a/f110_utils/nodes/slam_tuner/.gitignore b/f110_utils/nodes/slam_tuner/.gitignore new file mode 100644 index 0000000..e61b545 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/.gitignore @@ -0,0 +1,2 @@ +data/* +profiling/* \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/CMakeLists.txt b/f110_utils/nodes/slam_tuner/CMakeLists.txt new file mode 100644 index 0000000..f02eb0f --- /dev/null +++ b/f110_utils/nodes/slam_tuner/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 3.0.2) +project(slam_tuner) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + std_msgs + sensor_msgs + roscpp + rospy + tf2 + tf2_ros +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +## catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES slam_tuner +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/slam_tuner.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/slam_tuner_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + src/path_recorder.py + src/reconstruction_error.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_slam_tuner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/slam_tuner/README.md b/f110_utils/nodes/slam_tuner/README.md new file mode 100644 index 0000000..f482328 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/README.md @@ -0,0 +1,232 @@ +# Slam Tuner +This package provides functionalities to tune Localization packages. + +## Launch Procedure + +Start by getting your favorite rosbag and put it in the `data` folder of the `slam_tuner` folder. + +Then run the `tuner.launch` launch file, for example: + +```bash +roslaunch slam_tuner tuner.launch bag:=hangar/hangar_2205_speed.bag map_name:=hangar_2205_v0 racecar_version:=NUC2 algo:=pf2 include_SE:=True SE_version:=new +``` + +This launch file has a few parameters: +- `bag`: Relative path to the rosbag within `slam_tuner/data` +- `map_name`: Map you wish to get from `stack_master/maps` +- `racecar_version`: Choose the relevant NUC lookup tables +- `algo`: For now, choose between: + - `slam`: Cartographer + - `pf2`: Particle Filter 2 +- `include_SE`: Whether or not to run the EKFs (early and late) or just to run localization +- `SE_version`: Choose between: + - `new`: With late fusion EKF (and other parameters) + - `old`: Without + +The launch file should replay the Rosbag and show the mapping/localization process in Rviz. It's then up to you to tune the relevant parameters in `slam_tuner/config`. + +## Tuning Parameters +### `Cartographer` +#### Mapping +When mapping, edit the `f110_2d.lua` (for Mapping) or `f110_2d_loc.lua` (for Localization) file. + +Based on our trust on Odometry values: +- `TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight` +- `TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight` + +These weight the cost of rotating/translating incoming scans (from the odometry reference). If we trust our odometry, we can weight these values a little higher, but if not (our IMU and `vesc/odom` values aren't great at the moment) the default values are `0.2`. + +- `POSE_GRAPH.optimization_problem.odometry_rotation_weight` +- `POSE_GRAPH.optimization_problem.odometry_translation_weight` + +These weight how much the pose graph weights odometry (over scan matching). Similarly to above, but when performing localization of the car. Default values are `0`. + +Based on our trust of LIDAR scans: +- `TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability` +`TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability` + +These weight the probability of a hit or miss in the occupancy grid. +- Hit probability: The trust in cells where we get range data +- Miss probability: The trust in cells where we observe free space + +If we don't trust the lidar (eg. black tubes), we should reduce the miss probability (free space may mean undetected things). + +#### Localization +**Work In Progress** + +### `Particle Filter 2` +There are a few parameters to tune for PF2. + +- `max_particles`: The number of particles in PF. Do not increase to 4000, as something really wacky goes on with CPU usage past that point. Tested 2000-3000 and it was safe. + - Increasing the number of particles should improve the smoothness and accuracy of the pose estimate as there are more proposals. +- `max_range` : The maximum range to trust lidar scans. If encountering black tubes, then perhaps it is wise to tune this value lower. Else, trust the lidar datasheet. + +Sensor Model Parameters. + +- `z_hit`: Probability we hit intended target. +- `z_short`: Unexpected short reading. This could be turned up for H2H mode. +- `z_max`: out-of-range reading beyond `max_range`. This should be turned up for black tubes. +- `z_rand`: a reading anywhere in the valid range. + +Note that these values should sum to 1. + +Model Variances. + +- `sigma_hit`: standard deviation (m) of hitting intended target +- `lambda_short`: parameter of short-reading exponential distribution. Increase to make short readings more likely. + +Motion Model Parameters. Here are the TUM Motion Model equations: + +Where $d_{r1}$, $d_{r2}$ are the first and second rotation distances in the diff-drive model; and $d_t$ is the translation distance. Note that $a_2$ needs to be changed drastically if changing the Motion Model to "amcl". + +$\sigma_{r1} = a_1 * d_{r1} + a_2/max(d_t,\lambda_t)$ + +$\sigma_{r2} = a_1 * d_{r2} + a_2/max(d_t,\lambda_t)$ + +$\sigma_{t} = a_3 * d_{t} + a_4 * (d_{r1} + d_{r2})$ + +- `alpha_1`: How rotation affects rotation variance. + - Recommended to keep between (0.0, 1.0) +- `alpha_2`: How translation affects rotation variance. + - Recommended to keep between (0.0, 0.05) + - Coupled with `lam_thresh`: change these values in unison. +- `alpha_3`: How translation affects translation variance + - Recommended to keep between (0.0, 5.0) + - If facing localization problems at the end of the straight, think about increasing this. + - It will make particles spread out further longitudinally. +- `alpha_4`: How rotation affects translation variance + - Recommended to keep between (0.0, 1.0) +- `lam_thresh`: Minimum translation between frames for the TUM model to become effective. + - If this is set lower, then rotational variance will become higher, see the equation for $\sigma_{r1}$ above. + - Recommended to keep between(0.01, 0.2) + - Generally calculating $a_2/\lambda_t=0.2$ is a safe place to start. + +--- +### Trajectory comparison +Navigate to `slam_tuner/profiling/traj_cmp` and take a look at the `Comparison Index.txt` to compare the trajectories. Provisionally, the bags inside compare MIT PF, PF2, and Cartographer with the reference pose (what was recorded on the bag). An example is below. Replace the Bash variables with the relevant equivalents from `Comparison Index.txt` + +```bash +BAGNAME="pf_pf2_cartographer_v3_filt" +REF_POSE="/car_state/pose" +PF_POSE="/tracked_pose" +PF2_POSE="/tracked_pose/pf2" +CARTO_POSE="/tracked_pose/cartographer" +evo_traj bag $BAGNAME $PF_POSE $PF2_POSE $CARTO_POSE --ref $REF_POSE -p --plot_mode xy --verbose +``` + +## Profiling C++ ROS Nodes: +Follow the [profiling guide](http://wiki.ros.org/roslaunch/Tutorials/Profiling%20roslaunch%20nodes) on the ROS wiki: +- The C++ CMakeLists.txt has to be exposed to you: + - For Cartographer especially, we already have it; + - For `slam_toolbox` and `amcl`, we would need to clone the source code from Github and re-build from source with the necessary debug flags. + - Add the `-pg` flag -- see details in the guide. + +### Using `sysprof` +Sysprof is a *system-wide* profiler for Linux, and it's a general way to profile the different algorithms we use as part of our software stack. + +First, install `sysprof`: `sudo apt install sysprof`. + +Next, we can start to profile the system: +1. Source the latest version of the workspace. +2. Get a launchfile ready, for instance: + ```bash + launch_cmd="roslaunch slam_tuner tuner.launch bag:=hangar/hangar_240323_racerehearsal.bag loc_only:=False map_name:=hangar/hangar_240323_racerehearsal mapping_algo:=toolbox" + ``` +3. Start up the profiler. `sysprof` will ask you for sudo rights (it is a profiler after all). + ```bash + bash profiling/start_sysprof.bash "$launch_cmd" "$OUTFILE" + ``` + The bash script starts `sysprof` and starts the program to be profiled. +4. Kill the profiling bash script when you are happy (for example, after 30 seconds). +5. Open the `sysprof` GUI on your computer. Note that sudo is needed to do it directly. + ```bash + sudo sysprof $OUTFILE + ``` + Alternatively, just run `sysprof` and open up `OUTFILE` with `Ctrl+O`. +6. Enjoy a cool call graph and stack traced code. + +**! Note:** Sysprof profiles *everything* running on the system. So if you want the most accurate tests, close everything else running. + +**TODO** - isolate only the commands launched in `-c ...` for the Bash script. + +Alternatively, to get an isolated process outfile: +1. Start the launch file in question +2. Find the PID of the process you want to profile, eg. running `ps aux | grep "\.ros"` and reading off the PID +3. Run `sysprof-cli -p $PID --memprof $OUTFILE --force` + +### Using `gprof` +Add an tag just before each tag. The GMON_OUT_PREFIX environment variable specifies the output name for gprof, so it should be identical. +```xml + + + + +``` + +In this case, the ROS node will output the profiling output data to you ~/.ros/ directory with file named toolbox.[pid]. + +To analyse data, run `gprof ~/catkin_ws/devel/lib/slam_toolbox/async_slam_toolbox_node gmon.out`. The first argument is the executable and the second argument is the output dumped by `gmon`. + +### Using `valgrind` +**Valgrind makes the program quite slow, and I've not been able to get a replay working on rosbags using this method. Try it, but don't expect it to work.** + +Add the following code before the ROS node you wish to profile: +```xml + +``` + +A file will then be output in `~/.ros/` with the filename specified and the PID of the node. It can then be analysed with `kcachegrind`. + +--- +## Evaluating Localization algorithms + +### Data logs from runs +When `tuner.launch` is run, we also run a script called `reconstruction_error` (found in src). This is a slightly bad name, but this script basically records the localization performance for later use. + +After running the rosbag in `tuner.launch` (details at the top of the README), you will want to save the accumulated data for comparison. To do so, run the following in a **new terminal**: + +```bash +rostopic pub /create_plot std_msgs/Empty --once +``` + +This sends a message to the `reconstruction_error` node, telling it to dump the following files to `slam_tuner/profiling`: +- Three CSV files with format `(x, y, theta, timestep)`: + - Cartographer `tracked_pose` topic, if available + - The `Map->Base_link` TF transform + - The `Map->Odom` TF transform + - The `Odom->Base_link` TF transform +- A plot of trajectory histories of `Map->Base_link`, `Map->Odom`, and `Odom->Base_link` TF transforms +- One CSV file with format `(timestep, odom_x, odom_y, odom_theta, tf_x, tf_y, tf_theta)`. The TF values here are the `Map->Base_link` TF transform. +- A plot of localization error between the `Map->Base_link` TF transfom and the Odometry source. This would be helpful when we get a ground-truth odometry source, (eg. VICON system). + +These named `err_metrics__DDMMYY_HHMMSS_`. The filename should be obvious based on the above labels. + + +### Evaluating trajectories + +To evaluate trajectories, try running `profiling/metrics.py`. Note the relative import in the first few lines; you will need to adjust the include path manually. + +The script takes in a few variables: +- Paths to CSV files to be analysed +- Time interval to analyse (`START_TIME`, `END_TIME`) +- Etcetra. + +The "smoothness" metric can take a few options, and is still something TBD: +- `"SUM_SECOND_DERIVATIVE"`: Find the numerical second derivative of the `x` and `y` axes with respect to the timestamp `t` and report the sum of squared instantaneous second derivatives. +- `"SPLINE_DERIVATIVES"`: Fit a 5th order spline through sequential subsections of the data, and sum their squared second derivatives. + - Takes in two more parameters: + - `time_interval`: Duration of the entire spline (i.e. `END_TIME-START_TIME` as defined earlier) + - `dt`: Time step of sequential sections of data. + - This is because splines of order 5 sometimes are unable to fit the entire dataset well. +- `"SPLINE_DEVIATION"`: + - Similar to above, tries to fit a nth order spline through the datapoints, but the error metric is the squared deviation from the fitted spline. +- Anything else (Default argument): + - Angle smoothness metric (how the angle between successive data points changes, weighted by the distance of the edges). + +These metrics will then be plotted at the end of the script. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_2d.lua b/f110_utils/nodes/slam_tuner/config/f110_2d.lua new file mode 100644 index 0000000..bc04924 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_2d.lua @@ -0,0 +1,66 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + -- published_frame = "odom", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 4.0 -- crank it up! +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.1 + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 100 +POSE_GRAPH.optimize_every_n_nodes = 20 + +-- // How far we allow scan matcher to rotate/translate the scans +-- // Could think of it as "how much do we trust our odometry?" +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +-- // These weight the probability of a hit or miss in the occupancy grid. +-- // Hit probability: The trust in cells where we get range data +-- TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability = 0.7 +-- // Miss probability: The trust in cells where we observe free space (reduce if black tubes) +-- TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability = 0.4 + +-- // How much to trust odometry +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0.0 * POSE_GRAPH.optimization_problem.odometry_rotation_weight +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0.0 * POSE_GRAPH.optimization_problem.odometry_translation_weight + +-- // How much to trust local SLAM (scan matching) +-- POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 0.0 * POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight +-- POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1.25 * POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight + +return options + diff --git a/f110_utils/nodes/slam_tuner/config/f110_2d_loc.lua b/f110_utils/nodes/slam_tuner/config/f110_2d_loc.lua new file mode 100644 index 0000000..9c48ae8 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_2d_loc.lua @@ -0,0 +1,72 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + -- published_frame = "odom", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, -- Setting this true will actually give REP105 compliance! + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 4.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.05 +TRAJECTORY_BUILDER.pure_localization_trimmer = { + max_submaps_to_keep = 5, +} + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80 +POSE_GRAPH.optimize_every_n_nodes = 5 +POSE_GRAPH.global_sampling_ratio = 0.05 +POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 + +-- // How far we allow scan matcher to rotate/translate the scans +-- // Could think of it as "how much do we trust our odometry?" +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +-- // These weight the probability of a hit or miss in the occupancy grid. +-- // Hit probability: The trust in cells where we get range data +-- TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.hit_probability = 0.3 +-- // Miss probability: The trust in cells where we observe free space (reduce if black tubes) +-- TRAJECTORY_BUILDER_2D.submaps.range_data_inserter.probability_grid_range_data_inserter.miss_probability = 0.4 + +-- // How much to trust odometry +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0.0 * POSE_GRAPH.optimization_problem.odometry_rotation_weight +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0.0 * POSE_GRAPH.optimization_problem.odometry_translation_weight + +-- // How much to trust local SLAM (scan matching) +POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 0.0 * POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight +POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight = 0.0 * POSE_GRAPH.optimization_problem.local_slam_pose_translation_weight + + +return options + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/CMakeLists.txt b/f110_utils/nodes/slam_tuner/config/f110_description/CMakeLists.txt new file mode 100755 index 0000000..1ef2615 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/CMakeLists.txt @@ -0,0 +1,181 @@ +cmake_minimum_required(VERSION 2.8.3) +project(f110_description) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES racecar_description +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) + +## Declare a C++ library +# add_library(racecar_description +# src/${PROJECT_NAME}/racecar_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(racecar_description ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(racecar_description_node src/racecar_description_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(racecar_description_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(racecar_description_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS racecar_description racecar_description_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_racecar_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/meshes/chassis.STL 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b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git 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a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/meshes/Marker0.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/meshes/Marker0.dae new file mode 100755 index 0000000..ad2e324 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/meshes/Marker0.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker0.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 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0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_4.sdf new file mode 100755 index 0000000..bf35114 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_5.sdf new file mode 100755 index 0000000..b258bab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.config new file mode 100755 index 0000000..0b661f4 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.config @@ -0,0 +1,17 @@ + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.sdf new file mode 100755 index 0000000..7cf00bf --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker0/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker0/meshes/Marker0.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/materials/textures/Marker1.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/materials/textures/Marker1.png new file mode 100755 index 0000000..44c03b4 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/materials/textures/Marker1.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/meshes/Marker1.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/meshes/Marker1.dae new file mode 100755 index 0000000..08d0848 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/meshes/Marker1.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker1.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_4.sdf new file mode 100755 index 0000000..19cf0d7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_5.sdf new file mode 100755 index 0000000..a3679dd --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.config new file mode 100755 index 0000000..7ef2b4a --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.config @@ -0,0 +1,17 @@ + + Marker1 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.sdf new file mode 100755 index 0000000..3155a67 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker1/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png new file mode 100755 index 0000000..2a203ef Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/meshes/Marker10.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/meshes/Marker10.dae new file mode 100755 index 0000000..98a2b82 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/meshes/Marker10.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker10.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_4.sdf new file mode 100755 index 0000000..8b8815d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_5.sdf new file mode 100755 index 0000000..cb99cb3 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.config new file mode 100755 index 0000000..2f33aaa --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.config @@ -0,0 +1,17 @@ + + Marker10 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.sdf new file mode 100755 index 0000000..b3411e6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker10/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png new file mode 100755 index 0000000..2303c36 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/meshes/Marker11.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/meshes/Marker11.dae new file mode 100755 index 0000000..e575966 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/meshes/Marker11.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker11.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_4.sdf new file mode 100755 index 0000000..ed845f8 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_5.sdf new file mode 100755 index 0000000..fd2e9f7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.config new file mode 100755 index 0000000..d3a850b --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.config @@ -0,0 +1,17 @@ + + Marker11 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.sdf new file mode 100755 index 0000000..cf63a96 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker11/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png new file mode 100755 index 0000000..704b9bb Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/meshes/Marker12.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/meshes/Marker12.dae new file mode 100755 index 0000000..95674a9 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/meshes/Marker12.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker12.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_4.sdf new file mode 100755 index 0000000..9c2663a --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_5.sdf new file mode 100755 index 0000000..c19c0ad --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.config new file mode 100755 index 0000000..6938798 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.config @@ -0,0 +1,17 @@ + + Marker12 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.sdf new file mode 100755 index 0000000..689af0c --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker12/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png new file mode 100755 index 0000000..79a7b32 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/meshes/Marker13.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/meshes/Marker13.dae new file mode 100755 index 0000000..bf0a650 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/meshes/Marker13.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker13.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_4.sdf new file mode 100755 index 0000000..379023e --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_5.sdf new file mode 100755 index 0000000..72f5259 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.config new file mode 100755 index 0000000..982712d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.config @@ -0,0 +1,17 @@ + + Marker13 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.sdf new file mode 100755 index 0000000..4df884a --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker13/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png new file mode 100755 index 0000000..3337cda Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/meshes/Marker14.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/meshes/Marker14.dae new file mode 100755 index 0000000..71cee4b --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/meshes/Marker14.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker14.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_4.sdf new file mode 100755 index 0000000..1ca8533 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_5.sdf new file mode 100755 index 0000000..8dfa8a6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.config new file mode 100755 index 0000000..a247db7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.config @@ -0,0 +1,17 @@ + + Marker14 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.sdf new file mode 100755 index 0000000..8d512f7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker14/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png new file mode 100755 index 0000000..df61cc7 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/meshes/Marker15.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/meshes/Marker15.dae new file mode 100755 index 0000000..4100937 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/meshes/Marker15.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker15.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_4.sdf new file mode 100755 index 0000000..04fb049 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_5.sdf new file mode 100755 index 0000000..b6e79cd --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.config new file mode 100755 index 0000000..6cfc9fe --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.config @@ -0,0 +1,17 @@ + + Marker15 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.sdf new file mode 100755 index 0000000..3da547f --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker15/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png new file mode 100755 index 0000000..84cea70 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/meshes/Marker16.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/meshes/Marker16.dae new file mode 100755 index 0000000..e309ae9 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/meshes/Marker16.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker16.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_4.sdf new file mode 100755 index 0000000..967d534 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_5.sdf new file mode 100755 index 0000000..bc4eae9 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.config new file mode 100755 index 0000000..7e7ffb7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.config @@ -0,0 +1,17 @@ + + Marker16 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.sdf new file mode 100755 index 0000000..629d5a3 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker16/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png new file mode 100755 index 0000000..8ca4a9d Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/meshes/Marker17.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/meshes/Marker17.dae new file mode 100755 index 0000000..c5fd548 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/meshes/Marker17.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker17.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_4.sdf new file mode 100755 index 0000000..eec5c67 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_5.sdf new file mode 100755 index 0000000..4012a53 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.config new file mode 100755 index 0000000..00af1b1 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.config @@ -0,0 +1,17 @@ + + Marker17 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.sdf new file mode 100755 index 0000000..48d7ab4 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker17/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png new file mode 100755 index 0000000..d2cb1ea Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/meshes/Marker2.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/meshes/Marker2.dae new file mode 100755 index 0000000..ecdc879 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/meshes/Marker2.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker2.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_4.sdf new file mode 100755 index 0000000..4afebd4 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_5.sdf new file mode 100755 index 0000000..1433e1f --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.config new file mode 100755 index 0000000..fa54371 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.config @@ -0,0 +1,17 @@ + + Marker2 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.sdf new file mode 100755 index 0000000..21e4a9b --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker2/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png new file mode 100755 index 0000000..05a3281 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/meshes/Marker3.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/meshes/Marker3.dae new file mode 100755 index 0000000..27855f8 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/meshes/Marker3.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker3.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_4.sdf new file mode 100755 index 0000000..0d4a4bd --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_5.sdf new file mode 100755 index 0000000..e4894a7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.config new file mode 100755 index 0000000..047cf17 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.config @@ -0,0 +1,17 @@ + + Marker3 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.sdf new file mode 100755 index 0000000..fe58f24 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker3/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png new file mode 100755 index 0000000..bc7830b Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/meshes/Marker4.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/meshes/Marker4.dae new file mode 100755 index 0000000..58d0649 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/meshes/Marker4.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker4.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_4.sdf new file mode 100755 index 0000000..2c67932 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_5.sdf new file mode 100755 index 0000000..1dae276 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.config new file mode 100755 index 0000000..2e9fd7e --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.config @@ -0,0 +1,17 @@ + + Marker4 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.sdf new file mode 100755 index 0000000..cc4d203 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker4/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png new file mode 100755 index 0000000..5d3113c Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/meshes/Marker5.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/meshes/Marker5.dae new file mode 100755 index 0000000..67f2252 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/meshes/Marker5.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker5.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_4.sdf new file mode 100755 index 0000000..dd62bd7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_5.sdf new file mode 100755 index 0000000..d7702ad --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.config new file mode 100755 index 0000000..0f0e870 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.config @@ -0,0 +1,17 @@ + + Marker5 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.sdf new file mode 100755 index 0000000..07db97d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker5/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png new file mode 100755 index 0000000..cb00f15 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/meshes/Marker6.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/meshes/Marker6.dae new file mode 100755 index 0000000..956fb0c --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/meshes/Marker6.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker6.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_4.sdf new file mode 100755 index 0000000..93e6a27 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_5.sdf new file mode 100755 index 0000000..4d462fe --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.config new file mode 100755 index 0000000..c4f59c6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.config @@ -0,0 +1,17 @@ + + Marker6 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.sdf new file mode 100755 index 0000000..6aa9902 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker6/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png new file mode 100755 index 0000000..41ddc8b Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/meshes/Marker7.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/meshes/Marker7.dae new file mode 100755 index 0000000..f486fbf --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/meshes/Marker7.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker7.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_4.sdf new file mode 100755 index 0000000..d86bb12 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_5.sdf new file mode 100755 index 0000000..266b6d7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.config new file mode 100755 index 0000000..b4af58e --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.config @@ -0,0 +1,17 @@ + + Marker7 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.sdf new file mode 100755 index 0000000..cb6db5f --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker7/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png new file mode 100755 index 0000000..dec84a2 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/meshes/Marker8.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/meshes/Marker8.dae new file mode 100755 index 0000000..0ec7bf6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/meshes/Marker8.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker8.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_4.sdf new file mode 100755 index 0000000..8f15643 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_5.sdf new file mode 100755 index 0000000..cb4f7b6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.config new file mode 100755 index 0000000..317baae --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.config @@ -0,0 +1,17 @@ + + Marker8 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.sdf new file mode 100755 index 0000000..12ab587 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker8/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png new file mode 100755 index 0000000..358cb97 Binary files /dev/null and b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png differ diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/meshes/Marker9.dae b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/meshes/Marker9.dae new file mode 100755 index 0000000..dedced0 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/meshes/Marker9.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker9.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_4.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_4.sdf new file mode 100755 index 0000000..875f1f1 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_5.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_5.sdf new file mode 100755 index 0000000..e6adfe5 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.config new file mode 100755 index 0000000..4daf6ea --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.config @@ -0,0 +1,17 @@ + + Marker9 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.sdf new file mode 100755 index 0000000..ec27065 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/ar_tags/marker9/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.config new file mode 100755 index 0000000..9baefb6 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.config @@ -0,0 +1,7 @@ + + + cone + 1.0 + model.sdf + A bright orange cone + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.sdf new file mode 100755 index 0000000..e5875eb --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/cone/model.sdf @@ -0,0 +1,27 @@ + + + + + + + + model://racecar_description/meshes/cone.dae + + + + + + + model://racecar_description/meshes/cone.dae + + + + 1 0.2 0 1 + 1 0.2 0 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.sdf new file mode 100755 index 0000000..e1da33e --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/parking_1/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + 1 + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.config b/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.sdf b/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.sdf new file mode 100755 index 0000000..18d303b --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/models/walker_racecourse/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + 1 + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/package.xml b/f110_utils/nodes/slam_tuner/config/f110_description/package.xml new file mode 100755 index 0000000..f0b5eff --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/package.xml @@ -0,0 +1,49 @@ + + + f110_description + 0.0.0 + The racecar_description package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/urdf/F110.xacro b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/F110.xacro new file mode 100644 index 0000000..c8d1b61 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/F110.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/urdf/macros.xacro b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/macros.xacro new file mode 100755 index 0000000..73d4f94 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/macros.xacro @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/urdf/materials.xacro b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/materials.xacro new file mode 100755 index 0000000..49f4bc1 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.gazebo b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.gazebo new file mode 100755 index 0000000..ab4ff78 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.gazebo @@ -0,0 +1,135 @@ + + + + + + + + + + + Gazebo/Blue + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + /racecar + gazebo_ros_control/DefaultRobotHWSim + + + + + + + Gazebo/Grey + + 0 0 0.0124 0 0 0 + true + 40 + + + + 1081 + 1 + -2.3561944902 + 2.3561944902 + + + + 0.1 + 10.0 + 0.01 + + + 0.0 + 0.01 + + + + /scan + laser + + + + + + + + + + 30.0 + + + 0.8709216071359963 + + 640 + 480 + B8G8R8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 30.0 + /camera/zed + rgb/image_rect_color + rgb/camera_info + camera_link + 0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + diff --git a/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.xacro b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.xacro new file mode 100755 index 0000000..2c25e89 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/config/f110_description/urdf/racecar.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/f110_utils/nodes/slam_tuner/launch/tuner.launch b/f110_utils/nodes/slam_tuner/launch/tuner.launch new file mode 100644 index 0000000..e4198d9 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/launch/tuner.launch @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + # inertial odometry + + # 'none' or 'ekf' + + + + + + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/package.xml b/f110_utils/nodes/slam_tuner/package.xml new file mode 100644 index 0000000..5305fa2 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/package.xml @@ -0,0 +1,69 @@ + + + slam_tuner + 0.0.0 + The slam_tuner package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + amcl + slam_toolbox + + + + + + + diff --git a/f110_utils/nodes/slam_tuner/rviz/tuner.rviz b/f110_utils/nodes/slam_tuner/rviz/tuner.rviz new file mode 100644 index 0000000..588bcfe --- /dev/null +++ b/f110_utils/nodes/slam_tuner/rviz/tuner.rviz @@ -0,0 +1,369 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Status1 + - /Map New1/Status1 + - /PF2 Inferred Pose w/Cov1/Covariance1 + - /PF2 Inferred Pose w/Cov1/Covariance1/Position1 + Splitter Ratio: 0.6051872968673706 + Tree Height: 701 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.05000000074505806 + Reference Frame: + Show Trail: false + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: false + base_link: + Value: true + imu: + Value: true + laser: + Value: true + map: + Value: true + odom: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + imu: + {} + laser: + {} + map: + odom: + {} + Update Interval: 0 + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map New + Topic: /map_new + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 5 + Name: EKF Odom (Red) + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /state_estimation/odom + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 114; 159; 207 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Tracked Pose (Blue) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tracked_pose + Unreliable: false + Value: true + - Alpha: 1 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 + Name: PF Particles + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 + Shape: Arrow (Flat) + Topic: /pf/viz/particles + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 173; 127; 168 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Car State Pose (Pink) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /car_state_bag/pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: CarState Pose (Red) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /car_state/pose + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 252; 233; 79 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: PF2 Pose (Yellow) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tracked_pose/pf2 + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 85; 87; 83 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: Cartographer Pose (Black) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tracked_pose/cartographer + Unreliable: false + Value: true + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 255; 25; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.6000000238418579 + Color: 204; 51; 204 + Scale: 2 + Value: true + Value: true + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: PF2 Inferred Pose w/Cov + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tracked_pose/with_covariance + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: -0.030001956969499588 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 36.0793571472168 + Target Frame: + X: 10.94689655303955 + Y: 0.47847145795822144 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1242 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1431 + X: 960 + Y: 27 diff --git a/f110_utils/nodes/slam_tuner/src/errormetrics/__init__.py b/f110_utils/nodes/slam_tuner/src/errormetrics/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/slam_tuner/src/errormetrics/csv_io.py b/f110_utils/nodes/slam_tuner/src/errormetrics/csv_io.py new file mode 100644 index 0000000..07d9f0a --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/errormetrics/csv_io.py @@ -0,0 +1,41 @@ +import numpy as np +import csv + +from typing import List, Tuple + +# Save a list of poses + + +def save_csv(data_list: List[Tuple], filename: str, header: List[str] = None) -> None: + '''Saves an arbitrary data file (list of tuples) into a named CSV''' + + if filename[-4:] != ".csv": + filename += ".csv" + + with open(filename, 'w') as file: + writer = csv.writer(file) + + if header is not None: + writer.writerow(header) + + for data in data_list: + writer.writerow(data) + + +def read_csv(filename: str, has_header=True) -> List[Tuple]: + '''Reads a data file (list of tuples) from a named CSV. + + If has_header, then we skip the first row.''' + out = [] + + with open(filename, 'r') as file: + reader = csv.reader(file) + + if has_header: + print(f"Opened file {filename} has header:\n", next(reader, None)) + + for row in reader: + elem = tuple(map(float, row)) + out.append(elem) + + return out diff --git a/f110_utils/nodes/slam_tuner/src/errormetrics/plot_things.py b/f110_utils/nodes/slam_tuner/src/errormetrics/plot_things.py new file mode 100644 index 0000000..69ce453 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/errormetrics/plot_things.py @@ -0,0 +1,43 @@ +import numpy as np +import matplotlib.pyplot as plt +import csv + +colors = [ + 'b', + 'r', + 'g', + 'c', + 'm', + 'y', + 'k' +] + + +# Plots an arbitrary trajectory from CSVs +def plot_things(ax, filenames, scale=1.0): + for c_idx, filename in enumerate(filenames): + color = colors[c_idx % len(colors)] # wraparound + + x = [] + y = [] + theta = [] + + with open(filename, newline='') as f: + reader = csv.reader(f) + next(reader, None) # skip the headers + for row in reader: + x.append(float(row[1])) + y.append(float(row[2])) + theta.append(float(row[3])) + + for i in range(len(x)): + label = f"{filename} trajectory" if i==0 else None + ax.arrow(x[i], y[i], scale*np.cos(theta[i]), scale*np.sin(theta[i]), + width=scale*0.05, color=color, + label=label + ) + + ax.legend() + ax.grid() + ax.set_aspect('equal') + ax.set_title('Trajectory Comparison') \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/src/errormetrics/utils.py b/f110_utils/nodes/slam_tuner/src/errormetrics/utils.py new file mode 100644 index 0000000..d1b8925 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/errormetrics/utils.py @@ -0,0 +1,70 @@ +import numpy as np + + +def ang_btw_vec(v1, v2): + ''' Calculate angle between 2d vectors using dot product formulation ''' + + num = np.dot(v1, v2) + den = np.linalg.norm(v1) * np.linalg.norm(v2) + + if np.allclose(den, 0.0): + return 0.0 + + # Clamp to a valid region + theta = max(min(1.0, num/den), -1.0) + + return np.arccos(theta) + + +def transform_stuff(mo, obs): + res = [] + + for i in range(min(len(obs), len(mo))): + mo_x, mo_y, mo_theta, _ = mo[i] + t_mo = np.array([[np.cos(mo_theta), -np.sin(mo_theta), mo_x], + [np.sin(mo_theta), np.cos(mo_theta), mo_y], + [0, 0, 1]]) + + obs_x, obs_y, obs_theta, t = obs[i] + t_obs = np.array([[np.cos(obs_theta), -np.sin(obs_theta), obs_x], + [np.sin(obs_theta), np.cos(obs_theta), obs_y], + [0, 0, 1]]) + + t_res = t_mo @ t_obs # transformation matrix shenanigans + theta = np.arctan2(t_res[1, 0], t_res[0, 0]) + x = t_res[0, 2] + y = t_res[1, 2] + + res.append((x, y, theta, t)) + + return res + + +def trim_start_end_idx(data, start_time, end_time): + ''' + Trims a dataset to find indexes between start_time and end_time + + This helps to temporally align our dataset because we always replay the same source ROSBAG. + ''' + assert start_time >= 0.0 + assert start_time < end_time + + start = data[0][3] + has_started = False + has_ended = False + start_idx = 0 + end_idx = -1 + + for i, (_, _, _, t) in enumerate(data): + if t-start > start_time and has_started is False: + has_started = True + start_idx = i + + if t-start > end_time and has_ended is False: + has_ended = True + end_idx = i-1 + + break + + # print(start_idx, end_idx) + return data[start_idx:end_idx] diff --git a/f110_utils/nodes/slam_tuner/src/path_recorder.py b/f110_utils/nodes/slam_tuner/src/path_recorder.py new file mode 100644 index 0000000..ceef191 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/path_recorder.py @@ -0,0 +1,53 @@ + +import rospy +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Pose, PoseStamped, PoseWithCovarianceStamped +from tf.transformations import euler_from_quaternion + +import csv + +class PathRecorder: + ''' + This node subscribes to a Odometry, Pose, or PoseWithCovarainceStamped source and saves it to a CSV file. + ''' + + def __init__(self) -> None: + rospy.init_node("path_recorder_node", anonymous=True) + + self.SUB_TOPIC = rospy.get_param("~sub_topic") + self.TOPIC_TYPE = rospy.get_param("~topic_type").lower() + if self.TOPIC_TYPE=="odometry": + rospy.Subscriber(self.SUB_TOPIC, Odometry, self.callback) + elif self.TOPIC_TYPE=="posestamped": + rospy.Subscriber(self.SUB_TOPIC, PoseStamped, self.callback) + elif self.TOPIC_TYPE=="posewithcovariancestamped": + rospy.Subscriber(self.SUB_TOPIC, PoseWithCovarianceStamped, self.callback) + else: + raise ValueError(f"Requested {self.TOPIC_TYPE} not supported. Choose between \'Odometry\', \'PoseStamped\', \'PoseWithCovarianceStamped\'.") + + self.OUT_FILENAME = rospy.get_param("~out_filename", f"{self.TOPIC_TYPE}_traj.csv") + with open(self.OUT_FILENAME, 'w') as f: + w = csv.writer(f) + w.writerow(["t", "x", "y", "theta"]) + + def callback(self, msg): + if self.TOPIC_TYPE=="odometry": + pose:Pose = msg.pose.pose + elif self.TOPIC_TYPE=="posestamped": + pose:Pose = msg.pose + elif self.TOPIC_TYPE=="posewithcovariancestamped": + pose:Pose = msg.pose.pose + + t = msg.header.stamp.to_sec() + x = pose.position.x + y = pose.position.y + theta = euler_from_quaternion([pose.orientation.x, pose.orientation.y, + pose.orientation.z, pose.orientation.w])[2] + + with open(self.OUT_FILENAME, 'a') as f: + w = csv.writer(f) + w.writerow([t, x, y, theta]) + +if __name__ == "__main__": + n = PathRecorder() + rospy.spin() \ No newline at end of file diff --git a/f110_utils/nodes/slam_tuner/src/reconstruction_error.py b/f110_utils/nodes/slam_tuner/src/reconstruction_error.py new file mode 100644 index 0000000..bfd80d7 --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/reconstruction_error.py @@ -0,0 +1,342 @@ +import rospy +from std_msgs.msg import Empty +from geometry_msgs.msg import PoseStamped +from tf.transformations import euler_from_quaternion +import tf2_ros +import numpy as np +from scipy.interpolate import CubicSpline + +from datetime import datetime +import matplotlib.pyplot as plt +import csv + +from typing import List, Tuple + +from errormetrics.csv_io import * + + +class ReconstructionError: + ''' + Provides error metrics and plots for localization methods. + ''' + + def __init__(self): + rospy.init_node('rec_err_node', anonymous=True) + + self.LOC_ALGO: str = rospy.get_param("/rec_err/loc_algo", "Unknown") + '''String used to identify the localization algorithm to be compared against''' + self.TIMEOUT: float = rospy.get_param("/rec_err/timeout", 15.0) + '''Timeout to auto-compute a plot (when robot is standing still)''' + self.POSE_TOPIC: str = rospy.get_param( + '/rec_err/pose_topic', "/car_state/pose") + '''Topic to get the "ground-truth" pose information from''' + self.NUM_POSE_MSGS: int = rospy.get_param('/rec_err/n_pose_msgs', 20) + '''Number of pose messages to skip between datapoints (filtering method)''' + self.FILENAME: str = rospy.get_param( + '/rec_err/out_graph', f"{self.LOC_ALGO}_err_metrics") + self.FILENAME += ("_"+datetime.now().strftime("%d%m%y_%H%M%S")) + '''Output file path (defaults to relative)''' + + # Wait until the requried tf transforms exist + self.tf_buffer = tf2_ros.Buffer() + self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) + print("Reconstruction Error Node waiting for TF Transformations") + while not self.tf_buffer.can_transform("map", "base_link", rospy.Time(), rospy.Duration(1.0)): + rospy.logwarn("Waiting for base_link->imu transformation") + print("base_link->imu transformation OK") + + rospy.Subscriber("/create_plot", Empty, self.plot_data) + rospy.Subscriber(self.POSE_TOPIC, PoseStamped, self.pose_cb) + rospy.Subscriber("/tracked_pose", PoseStamped, self.slam_pose_cb) + + self._car_state_pose_cnt: int = 0 # to filter out noisy pose data + self._x_acc = [] + self._y_acc = [] + self._sint_acc = [] + self._cost_acc = [] + + self.prev_position: List[float] = None # SE2 position of car + self.curr_position: List[float] = None # SE2 position of car + + self.was_stationary = False + self.time_since_stationary: float = 0 + + # Numpy arrays for interpolation --> time-syncing + self.odom_msgs = [] + self.map_bl_list = [] + self.map_odom_list = [] + self.odom_bl_list = [] + + self.tf_x = [] + self.tf_y = [] + self.tf_sint = [] + self.tf_cost = [] + self.tf_t = [] + + # for tracking pose + self.tracked_x = [] + self.tracked_y = [] + self.tracked_theta = [] + self.tracked_time = [] + self.tracked_pose = [] + + def slam_pose_cb(self, data: PoseStamped) -> None: + """ + Callback function of /tracked_pose subscriber. + + Parameters + ---------- + data + Data received from /car_state/pose topic + """ + x = data.pose.position.x + y = data.pose.position.y + theta = euler_from_quaternion([data.pose.orientation.x, data.pose.orientation.y, + data.pose.orientation.z, data.pose.orientation.w])[2] + t = data.header.stamp.to_sec() + + self.tracked_x.append(x) + self.tracked_y.append(y) + self.tracked_theta.append(theta) + self.tracked_time.append(t) + self.tracked_pose.append((x, y, theta, t)) + + def pose_cb(self, data: PoseStamped): + """ + Callback function of /car_state/pose subscriber. + + Parameters + ---------- + data + Data received from /car_state/pose topic + """ + + x = data.pose.position.x + y = data.pose.position.y + theta = euler_from_quaternion([data.pose.orientation.x, data.pose.orientation.y, + data.pose.orientation.z, data.pose.orientation.w])[2] + + # // Get the latest transforms + self.update_tf_lists() + + # // Append most recent coordinates to 1d arrays for later interpolation (ensure that it's increasing in time) + if len(self.tf_t) == 0 or self.map_bl_list[-1][-1] > self.tf_t[-1]: + self.tf_x.append(self.map_bl_list[-1][0]) + self.tf_y.append(self.map_bl_list[-1][1]) + self.tf_sint.append(np.sin(self.map_bl_list[-1][2])) + self.tf_cost.append(np.cos(self.map_bl_list[-1][2])) + self.tf_t.append(self.map_bl_list[-1][3]) + + # // Reject noisy pose data taking the running average of N pose estimates + self._x_acc.append(x) + self._y_acc.append(y) + self._sint_acc.append(np.sin(theta)) + self._cost_acc.append(np.cos(theta)) + if len(self._x_acc) > self.NUM_POSE_MSGS: # pop off the first elem in sliding win + self._x_acc = self._x_acc[1:] + self._y_acc = self._y_acc[1:] + self._sint_acc = self._sint_acc[1:] + self._cost_acc = self._cost_acc[1:] + + x = np.mean(self._x_acc) + y = np.mean(self._y_acc) + theta = np.arctan2( + np.mean(self._sint_acc), + np.mean(self._cost_acc) + ) + + self.odom_msgs.append((x, y, theta, data.header.stamp.to_sec())) + self._car_state_pose_cnt = 0 + + if self.curr_position is None: + self.prev_position = [x, y, theta] + self.curr_position = [x, y, theta] + + # // Check if the car has been idle for more than TIMEOUT seconds + dx = (self.prev_position[0]-x) + dy = (self.prev_position[1]-y) + dtheta = (self.prev_position[2]-theta) + + if np.sqrt(dx**2+dy**2) < 0.25 and dtheta < 0.2: + # Not enough movement, we are not moving! + if self.was_stationary is False: + self.was_stationary = True + self.time_since_stationary = data.header.stamp.to_sec() + else: + time_elapsed = data.header.stamp.to_sec() - self.time_since_stationary + # rospy.loginfo(f"Reconstruction Error: {time_elapsed:.2f}s since stationary.") + + if time_elapsed > self.TIMEOUT: + rospy.loginfo( + f"[Reconstruction Error]: {self.TIMEOUT:.2f}s passed since car stopped. Plotting data...") + self.was_stationary = False + self.time_since_stationary = data.header.stamp.to_sec() + self.plot_data(None) # Auto plot, reset + else: + # We have moved off + self.was_stationary = False + + def update_tf_lists(self): + '''Updates the running lists of TF data. We keep 3 lists ongoing: map->odom, map->base_link, odom->base_link.''' + + def grab_tf_data(frame1, frame2, lst): + # Get the latest transform between frame1 and frame2, but not if it has the same header (timestep) as the previous datapoint + tf_msg = self.tf_buffer.lookup_transform( + frame1, frame2, rospy.Time(0.0), rospy.Duration(2.0)) + + if len(lst) and tf_msg.header.stamp.to_sec() == lst[-1][-1]: + return + + tf_x = tf_msg.transform.translation.x + tf_y = tf_msg.transform.translation.y + tf_theta = euler_from_quaternion([tf_msg.transform.rotation.x, tf_msg.transform.rotation.y, + tf_msg.transform.rotation.z, tf_msg.transform.rotation.w])[2] + + lst.append((tf_x, tf_y, tf_theta, tf_msg.header.stamp.to_sec())) + + grab_tf_data("map", "base_link", self.map_bl_list) + grab_tf_data("map", "odom", self.map_odom_list) + grab_tf_data("odom", "base_link", self.odom_bl_list) + + def plot_data(self, _): + ''' + On recieving a message on the /create_plot topic, we calculate and plot out error metrics. + ''' + + rospy.logwarn(f"[Reconstruction Error]: Saving to {self.FILENAME}") + + pos_err = [] + ang_err = [] + t_vec = [] + data_out = [] + + # Get interpolators for TF data + tf_x_cs = CubicSpline(self.tf_t, self.tf_x) + tf_y_cs = CubicSpline(self.tf_t, self.tf_y) + tf_sint_cs = CubicSpline(self.tf_t, self.tf_sint) + tf_cost_cs = CubicSpline(self.tf_t, self.tf_cost) + + # interpolate to get an error metric + for odom_pose in self.odom_msgs: + t = odom_pose[3] + interp_x = tf_x_cs(t) + interp_y = tf_y_cs(t) + + interp_sint = tf_sint_cs(t) + interp_cost = tf_cost_cs(t) + interp_theta = np.arctan2(interp_sint, interp_cost) + + # Get error + pos_error = np.sqrt( + (interp_x-odom_pose[0])**2 + (interp_y-odom_pose[1])**2) + ang_error = np.abs(np.arctan2( + np.sin(odom_pose[2]-interp_theta), np.cos(odom_pose[2]-interp_theta))) + + # Accumulate error + pos_err.append(pos_error) + ang_err.append(ang_error) + t_vec.append(t) + + data_out.append( + (t, odom_pose[0], odom_pose[1], odom_pose[2], interp_x, interp_y, interp_theta)) + + # // Save t: odom(x,y,t), tf(x,y,t) + save_csv(data_out, self.FILENAME+".csv", + header=["Time", "odom_x", "odom_y", "odom_theta", "tf_x", "tf_y", "tf_theta"]) + + # // plot and save lateral error metric + t_vec = [t-t_vec[0] for t in t_vec] # start time from t=0 + avg_pos_err = np.average(pos_err) + + fig, (ax1, ax2) = plt.subplots(nrows=2, ncols=1) + plt.title( + f"Error metrics for localization method \"{self.LOC_ALGO}\", mean pos err: {avg_pos_err:.2f}m") + + color = 'tab:red' + ax1.grid() + ax1.set_xlabel('Time (s)') + ax1.set_ylabel("Absolute Position error (m)") + ax1.plot(t_vec, pos_err, color=color) + + color = 'tab:blue' + ax2.grid() + ax2 .set_xlabel('Time (s)') + ax2.set_ylabel("Absolute Angular error (rad)") + ax2.plot(t_vec, ang_err, color=color) + + fig.tight_layout() + plt.savefig(self.FILENAME+".png") + plt.close() + + # // Plot relative trajectories + fig, axs = plt.subplots(nrows=1, ncols=3) + plt.title( + f"Trajectory history") + + color = 'tab:red' + # alpha = np.arange(0.5, 1.0, len(self.map_bl_list)) + axs[0].set_title("map to base_link") + axs[0].grid() + axs[0].set_xlabel('x') + axs[0].set_ylabel("y") + axs[0].plot([t[0] for t in self.map_bl_list], + [t[1] for t in self.map_bl_list], + 'x-', + color=color, + # alpha=alpha, + label="Map->Base_link TF Data" + ) + axs[0].plot([t[0] for t in self.tracked_pose], + [t[1] for t in self.tracked_pose], + 'x-', + # alpha=alpha, + label="Tracked_Pose" + ) + axs[0].legend() + + color = 'tab:blue' + # alpha = np.arange(0.5, 1.0, len(self.odom_bl_list)) + axs[1].set_title("odom to base_link") + axs[1].grid() + axs[1].set_xlabel('x') + axs[1].set_ylabel("y") + axs[1].plot([t[0] for t in self.odom_bl_list], + [t[1] for t in self.odom_bl_list], + 'x-', + color=color, + # alpha=alpha + ) + + color = 'tab:green' + # alpha = np.arange(0.5, 1.0, len(self.map_odom_list)) + axs[2].set_title("map to odom") + axs[2].grid() + axs[2].set_xlabel('x') + axs[2].set_ylabel("y") + axs[2].plot([t[0] for t in self.map_odom_list], + [t[1] for t in self.map_odom_list], + 'x-', + color=color, + # alpha=alpha + ) + + fig.tight_layout() + plt.savefig(self.FILENAME+"_traj_hist.png") + plt.close() + + # // Save TF error metrics + save_csv(self.map_bl_list, self.FILENAME+"_tf_mbl.csv", + header=["x", "y", "theta", "t"]) + save_csv(self.map_odom_list, self.FILENAME+"_tf_mo.csv", + header=["x", "y", "theta", "t"]) + save_csv(self.odom_bl_list, self.FILENAME+"_tf_obl.csv", + header=["x", "y", "theta", "t"]) + save_csv(self.tracked_pose, self.FILENAME+"_tracked_pose.csv", + header=["x", "y", "theta", "t"]) + + # Get data on smoothed error + + +if __name__ == "__main__": + node = ReconstructionError() + rospy.spin() diff --git a/f110_utils/nodes/slam_tuner/src/setup.py b/f110_utils/nodes/slam_tuner/src/setup.py new file mode 100644 index 0000000..6546eec --- /dev/null +++ b/f110_utils/nodes/slam_tuner/src/setup.py @@ -0,0 +1,17 @@ +from setuptools import setup, find_packages + +setup( + name='errormetrics', + version='0.1.0', + packages=find_packages(include=[ + 'errormetrics', + 'errormetrics.*', + 'csv_io.py', + 'plot_things.py', + 'utils.py' + ]), + install_requires=[ + 'numpy', + 'matplotlib', + ], +) \ No newline at end of file diff --git a/f110_utils/nodes/tf_transformer/CMakeLists.txt b/f110_utils/nodes/tf_transformer/CMakeLists.txt new file mode 100644 index 0000000..01d8b1c --- /dev/null +++ b/f110_utils/nodes/tf_transformer/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.0.2) +project(tf_transformer) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + tf2 +) + +# call setup.py +catkin_python_setup() + +# add_executable(gb_traj_publisher src/gb_traj_publisher.py) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +# catkin_package( +# INCLUDE_DIRS include +# LIBRARIES f110_planner +# CATKIN_DEPENDS rospy geometry_msgs f110_msgs std_msgs +# DEPENDS system_lib +# ) diff --git a/f110_utils/nodes/tf_transformer/README.md b/f110_utils/nodes/tf_transformer/README.md new file mode 100644 index 0000000..cb3bd81 --- /dev/null +++ b/f110_utils/nodes/tf_transformer/README.md @@ -0,0 +1,15 @@ +# TF Transformer +Despite the name, this package does not consist of a transformer neural network implemented with tensorflow. For that look [here](https://huggingface.co/docs/transformers/main/en/index#supported-frameworks). + +This package provides an odometry estimate of the F110 car purely based on [tf](http://wiki.ros.org/tf), the ROS package that "lets the user keep track of multiple coordinate frames over time". + +It provides the user with an `nav_msgs/Odometry` message at the topic `tf_odom`. +The node can be launched with the launch file: +``` +roslaunch tf_transformer tf_transformer +``` + +and provides position, rotation, velocities and rotational velocities. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/tf_transformer/launch/tf_transformer.launch b/f110_utils/nodes/tf_transformer/launch/tf_transformer.launch new file mode 100644 index 0000000..39b9a87 --- /dev/null +++ b/f110_utils/nodes/tf_transformer/launch/tf_transformer.launch @@ -0,0 +1,7 @@ + + + + + + \ No newline at end of file diff --git a/f110_utils/nodes/tf_transformer/package.xml b/f110_utils/nodes/tf_transformer/package.xml new file mode 100644 index 0000000..560659b --- /dev/null +++ b/f110_utils/nodes/tf_transformer/package.xml @@ -0,0 +1,59 @@ + + + tf_transformer + 0.0.0 + Node to publish velocity data from tf + + Jonathan Becker + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + rospy + nav_msgs + tf2 + + + + + + + + diff --git a/f110_utils/nodes/tf_transformer/setup.py b/f110_utils/nodes/tf_transformer/setup.py new file mode 100644 index 0000000..29ed6a1 --- /dev/null +++ b/f110_utils/nodes/tf_transformer/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['tf_transformer'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/f110_utils/nodes/tf_transformer/src/tf_transformer_node.py b/f110_utils/nodes/tf_transformer/src/tf_transformer_node.py new file mode 100755 index 0000000..b1a6e64 --- /dev/null +++ b/f110_utils/nodes/tf_transformer/src/tf_transformer_node.py @@ -0,0 +1,152 @@ +#!/usr/bin/env python3 + +import rospy +import tf +from tf2_msgs.msg import TFMessage +from nav_msgs.msg import Odometry +from geometry_msgs.msg import PoseWithCovariance, TwistWithCovariance, Vector3Stamped +import numpy as np + + +class TfTransformer: + def __init__(self): + # subscribers + # wait for tf to come alive + rospy.sleep(1.0) + self.tf_listener = tf.TransformListener() + rospy.Subscriber("/tf", TFMessage, self.tf_cb, queue_size=10) + + # publishers + # requires remap in launch file + self.odom_pub = rospy.Publisher('tf_odom', Odometry, queue_size=10) + + # parameters + #self.experiment = rospy.get_param("/id_controller/experiment") + + rospy.logwarn("TF Transformer Ready") + # initialize with high time between messages to trigger reset + + self.last_odom = Odometry() + self.last_odom.header.stamp = rospy.Time(0) + + self.dt = 100 + rospy.spin() + + def calculate_first_derivative(self, now, last): + return (now - last)/self.dt + + def tf_cb(self, msg): + stamp = 0 + # check if tf is the one we care about + for transform in msg.transforms: + if transform.child_frame_id == "base_link": + stamp = transform.header.stamp + if stamp == 0: + return + + # get the tf from map to base_link for position and rotation + # as we want to express these in world coordinates + try: + # takes the latest (i.e. the one we just received) + (trans, rot) = self.tf_listener.lookupTransform( + "map", "base_link", rospy.Time(0)) + except tf.Exception as error: + rospy.logwarn(error) + return + + # Create odom message + odom_msg = Odometry() + odom_msg.header.frame_id = "map" + odom_msg.header.stamp = stamp + + # transform the current tf to pose, tf is from world to body + pose_msg = PoseWithCovariance() + pose_msg.pose.position.x = trans[0] + pose_msg.pose.position.y = trans[1] + pose_msg.pose.position.z = trans[2] + # quaternion from world to body + pose_msg.pose.orientation.x = rot[0] + pose_msg.pose.orientation.y = rot[1] + pose_msg.pose.orientation.z = rot[2] + pose_msg.pose.orientation.w = rot[3] + + odom_msg.pose = pose_msg + + self.dt = stamp.to_sec() - self.last_odom.header.stamp.to_sec() + if self.dt < 0.1: + v = Vector3Stamped() + + v.vector.x = \ + self.calculate_first_derivative( + trans[0], self.last_odom.pose.pose.position.x) + v.vector.y = \ + self.calculate_first_derivative( + trans[1], self.last_odom.pose.pose.position.y) + v.vector.z = \ + self.calculate_first_derivative( + trans[2], self.last_odom.pose.pose.position.z) + v.header.stamp = rospy.Time(0) + v.header.frame_id = "map" + # print(v) + # # transform twist into body frame using the transform (V' = RVR') + # # we need w component at first place for this + # t = np.array(rot[0:3]) + # rv = (-np.matmul(t.T, v), rot[3]*v+np.cross(t,v)) + # v_t = (rv[0]*rot[3]-np.matmul(rv[1].T,-t),rv[0]*-t+rot[3]*rv[1]+np.cross(rv[1],-t)) + + # v_t = self.tf_listener.transformVector3("base_link", v) + rpy = tf.transformations.euler_from_quaternion(rot) + + twist_msg = TwistWithCovariance() + + twist_msg.twist.linear.x = v.vector.x * \ + np.cos(rpy[2]) + v.vector.y * np.sin(rpy[2]) + twist_msg.twist.linear.y = v.vector.y * \ + np.cos(rpy[2]) - v.vector.x * np.sin(rpy[2]) + twist_msg.twist.linear.z = v.vector.z + + # twist_msg.twist.linear.x = v_t.vector.x + # twist_msg.twist.linear.y = v_t.vector.y + # twist_msg.twist.linear.z = v_t.vector.z + + # quaternion derivatives: + # we need quat from body to world as we want angular rate in body frame + e0 = rot[3] + e1 = rot[0] + e2 = rot[1] + e3 = rot[2] + de0 = self.calculate_first_derivative( + e0, self.last_odom.pose.pose.orientation.w) + de1 = self.calculate_first_derivative( + e1, self.last_odom.pose.pose.orientation.x) + de2 = self.calculate_first_derivative( + e2, self.last_odom.pose.pose.orientation.y) + de3 = self.calculate_first_derivative( + e3, self.last_odom.pose.pose.orientation.z) + + # for quaternions refer to the robot dynamics lecture notes for transformation + # between time derivative of quaternion to angular rate + + H = np.matrix( + [[-e1, e0, -e3, e2], + [-e2, e3, e0, -e1], + [-e3, -e2, e1, e0]]) + de = np.matrix([[de0], [de1], [de2], [de3]]) + angular_velocity = 2 * np.matmul(H, de) + twist_msg.twist.angular.x = angular_velocity[0] + twist_msg.twist.angular.y = angular_velocity[1] + twist_msg.twist.angular.z = angular_velocity[2] + odom_msg.twist = twist_msg + self.odom_pub.publish(odom_msg) + + self.last_odom = odom_msg + + +if __name__ == '__main__': + rospy.init_node('tf_transformer') + + # Go to class functions that do all the heavy lifting. Do error checking. + try: + TfTransformer = TfTransformer() + except rospy.ROSInterruptException: + pass diff --git a/f110_utils/nodes/transform_broadcaster/CMakeLists.txt b/f110_utils/nodes/transform_broadcaster/CMakeLists.txt new file mode 100644 index 0000000..cd92abc --- /dev/null +++ b/f110_utils/nodes/transform_broadcaster/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(transform_broadcaster) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + nav_msgs + rospy + tf2 + tf2_ros +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# geometry_msgs# nav_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES transform_broadcaster +# CATKIN_DEPENDS geometry_msgs nav_msgs rospy tf2 tf2_ros +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/transform_broadcaster.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/transform_broadcaster_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +catkin_install_python(PROGRAMS + src/transform_broadcaster.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_transform_broadcaster.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/f110_utils/nodes/transform_broadcaster/README.md b/f110_utils/nodes/transform_broadcaster/README.md new file mode 100644 index 0000000..14e81c1 --- /dev/null +++ b/f110_utils/nodes/transform_broadcaster/README.md @@ -0,0 +1,14 @@ +# Transform_Broadcaster + +Ever need to broadcast a TF transform from an Odom frame? + +Look no further than `transform_broadcaster`. + +Simply adapts the [TF2 Broadcaster tutorial](http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20broadcaster%20%28Python%29) to our uses. + +## Parameters +- `odom_topic`: What `nav_msgs/Odometry` topic are you subscribing to? +- `tf_child_frame`: What is the child frame? Defaults to `base_link`. + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/nodes/transform_broadcaster/package.xml b/f110_utils/nodes/transform_broadcaster/package.xml new file mode 100644 index 0000000..15726e7 --- /dev/null +++ b/f110_utils/nodes/transform_broadcaster/package.xml @@ -0,0 +1,74 @@ + + + transform_broadcaster + 0.0.0 + The transform_broadcaster package + + + + + tianyilim + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + nav_msgs + rospy + tf2 + tf2_ros + geometry_msgs + nav_msgs + rospy + tf2 + tf2_ros + geometry_msgs + nav_msgs + rospy + tf2 + tf2_ros + + + + + + + + diff --git a/f110_utils/nodes/transform_broadcaster/src/__init__.py b/f110_utils/nodes/transform_broadcaster/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/f110_utils/nodes/transform_broadcaster/src/transform_broadcaster.py b/f110_utils/nodes/transform_broadcaster/src/transform_broadcaster.py new file mode 100755 index 0000000..1abc9d0 --- /dev/null +++ b/f110_utils/nodes/transform_broadcaster/src/transform_broadcaster.py @@ -0,0 +1,34 @@ +import rospy +import tf2_ros +from nav_msgs.msg import Odometry +import geometry_msgs.msg + +def handle_odom_update(msg:Odometry): + # Transforms from odom to base_link. + br = tf2_ros.TransformBroadcaster() + t = geometry_msgs.msg.TransformStamped() + + t.header.stamp = msg.header.stamp + t.header.frame_id = msg.header.frame_id + t.child_frame_id = tf_child_frame + + pos = msg.pose.pose.position + t.transform.translation.x = pos.x + t.transform.translation.y = pos.y + t.transform.translation.z = pos.z + + ori = msg.pose.pose.orientation + t.transform.rotation.x = ori.x + t.transform.rotation.y = ori.y + t.transform.rotation.z = ori.z + t.transform.rotation.w = ori.w + + br.sendTransform(t) + +if __name__=="__main__": + rospy.init_node("odom_transform_broadcaster", anonymous=True) + odom_topic = rospy.get_param("/transform_broadcaster/odom_topic") + tf_child_frame = rospy.get_param("/transform_broadcaster/child_frame", "base_link") + rospy.Subscriber(odom_topic, Odometry, handle_odom_update) + + rospy.spin() \ No newline at end of file diff --git a/f110_utils/scripts/pit_starter/README.md b/f110_utils/scripts/pit_starter/README.md new file mode 100644 index 0000000..4829849 --- /dev/null +++ b/f110_utils/scripts/pit_starter/README.md @@ -0,0 +1,18 @@ +# Pit starter +The content of this folder can be used to automatically setup your laptop to see a roscore running on a car. + +## Prerequisites +Your computer should be in the ZeroTier network. to do that consult the [networking guide](../../../stack_master/checklists/networking.md). +## How to modify the script to use your own fixed IP +Open the [pit_starter.sh](./pit_starter.sh) file and write in the point marked with the todo the fixed IP of the car you want to connect to. + +## How to connect the pit +On your pit laptop. +- `cd /f110_utils/scripts/pit_starter` +- `source pit_starter.sh rviz` +- Enjoy freshly sourced NUCX. The script runs the rviz with the correct config. +- Pro tip: If you only want to source the NUCX then dont use the `rviz` argument + + +--- +[Go back to the utils list](../../README.md) \ No newline at end of file diff --git a/f110_utils/scripts/pit_starter/f1.rviz b/f110_utils/scripts/pit_starter/f1.rviz new file mode 100644 index 0000000..ea543b0 --- /dev/null +++ b/f110_utils/scripts/pit_starter/f1.rviz @@ -0,0 +1,631 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - //vesc/odom (Purple)1/Shape1 + - /State_Estimation Odom (Green)1/Shape1 + Splitter Ratio: 0.8194842338562012 + Tree Height: 944 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/Axes + Enabled: true + Length: 1 + Name: Origin + Radius: 0.05000000074505806 + Reference Frame: + Show Trail: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: /map + Unreliable: false + Use Timestamp: false + Value: true + - Alpha: 0.699999988079071 + Class: rviz/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Cartographer Mapshift Viz + Topic: /map_new + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + imu: + Value: true + laser: + Value: true + map: + Value: true + odom: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + base_link: + imu: + {} + laser: + {} + odom: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 1 + Name: /vesc/odom (Purple) + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 173; 127; 168 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /vesc/odom + Unreliable: false + Value: false + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 114; 159; 207 + Enabled: false + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: /car_state/path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /car_state/path + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/Pose + Color: 114; 159; 207 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: /car_state/pose (Blue) + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /car_state/pose + Unreliable: false + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: false + Keep: 1 + Name: State_Estimation Odom (Green) + Position Tolerance: 0.10000000149011612 + Queue Size: 10 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 138; 226; 52 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: /state_estimation/odom + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz/PoseWithCovariance + Color: 255; 25; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Name: PF2 Pose With Cov + Queue Size: 10 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Shape: Arrow + Topic: /tracked_pose/with_covariance + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /lookahead_point + Name: /lookahead_point + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /global_waypoints/markers + Name: Global Waypoints + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planner/markers + Name: Frenet Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planner/obstacle_markers + Name: Frenet Obstacles + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_waypoints/markers + Name: Local Waypoints + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /best_gap/markers + Name: FTG Best Gap + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /best_points/marker + Name: FTG Goal Point + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: perception/obstacles_markerarray + Name: Dani Obstacles + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /trackbounds/markers + Name: Track Bounds Markers + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /sector_markers + Name: Sector Names + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /ot_sector_markers + Name: OT Sector Names + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /global_waypoints/overtaking/markers + Name: OT Waypoints + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/static_dynamic_marker_pub + Name: Sami Obstacles + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /perception/obstacles_markers_new + Name: Sami Raw Detections + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /trailing_opponent_marker + Name: Trailing Opponent + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /dummy_obstacle_markers + Name: Virtual Obstacles + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /planner/avoidance/propagated_obs + Name: Spliner Propagated Obstacle + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planner/avoidance/markers + Name: Spliner Avoidance Raw + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /state_marker + Name: State + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /emergency_marker + Name: Voltage Warning + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /collision_marker + Name: Collision Viz + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /camera/depth/color/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 164; 0; 0 + Min Color: 239; 41; 41 + Name: Scan Fused + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: /scan_fused + Unreliable: false + Use Fixed Frame: true + Use rainbow: false + Value: false + - Class: rviz/Marker + Enabled: true + Marker Topic: /lap_data_vis + Name: Lap Data + Namespaces: + lap_info: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /scanalign/alignment_textmrk + Name: Scan Alignment Txt + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /planner/avoidance/markers + Name: Predictive Spliner + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /speed_difference/markers + Name: Speed Diff to Opponent + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /opponent_traj_markerarray + Name: Opponent Traj Regression + Namespaces: + "": true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /collision_predict/beginn + Name: Collision Predict Begin + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /collision_predict/end + Name: Collision Predict End + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 16.830551147460938 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 4.288304805755615 + Y: 4.312037944793701 + Z: -4.122449354326818e-06 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.2753961086273193 + Target Frame: map + Yaw: 5.565419673919678 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1163 + Hide Left Dock: true + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000024a000003edfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed0000039500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d000003ed0000000000fffffffaffffffff0100000002fb000000100044006900730070006c0061007900730000000000000002160000015600fffffffb0000000a005600690065007700730000000000ffffffff0000010000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000303000000940000000000000000fb0000000a0049006d00610067006501000002270000018b0000000000000000000000010000010f0000035afc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003ed00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 0 diff --git a/f110_utils/scripts/pit_starter/pit_starter.sh b/f110_utils/scripts/pit_starter/pit_starter.sh new file mode 100755 index 0000000..a1d6aba --- /dev/null +++ b/f110_utils/scripts/pit_starter/pit_starter.sh @@ -0,0 +1,52 @@ +#!/bin/bash + +if [ $# -gt 0 ] +then + +#export the ROS IP PARAMS to connect to nuc as master +export ROS_HOSTNAME=$1 +export ROS_IP=$1 +echo 'Using your input as ROS_HOSTNAME and ROS_IP: ' +echo $1 + + if [ $2 == 'NUC2' ] + then + echo 'Exporting ROS params to access NUC2' + export ROS_MASTER_URI=http://:11311 + echo 'Exported your stuff...' + # elif [ $2 == 'NUCX' ] + # then + # echo 'Exporting ROS params to access NUCX' + # export ROS_MASTER_URI=http://:11311 + # echo 'Exported your stuff...' + else + echo 'No valid car arg. Valid car args are NUC2 - NUC5.' + fi + + if [ -z "$3" ] + then + echo "No additional argument supplied." + elif [ $3 == 'rviz' ] + then + echo 'Starting rviz as well' + #start configured RVIZ + rosrun rviz rviz -d ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/f1.rviz + elif [ $3 == 'rqt' ] + then + echo 'Starting rqt as well' + rqt + elif [ $3 == 'rvizqt' ] + then + echo 'Starting rviz and rqt as well' + rosrun rviz rviz -d ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/f1.rviz & + rqt + else + echo "Not a valid rviz arg. Exiting.\ + + Valid arguments: + [None] | Simply export ROS params to access relevant NUC. + rviz | Launch RViz only. + rqt | Launch rqt only. + rvizqt | Simultaneously launch RViz and rqt." + fi +fi diff --git a/perception/CMakeLists.txt b/perception/CMakeLists.txt new file mode 100644 index 0000000..e5f90b6 --- /dev/null +++ b/perception/CMakeLists.txt @@ -0,0 +1,222 @@ +cmake_minimum_required(VERSION 3.0.2) +project(perception) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + tf + sensor_msgs + dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/dyn_tracker_tuner.cfg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + CATKIN_DEPENDS roscpp rospy std_msgs tf sensor_msgs realsense2_camera cv_bridge nav_msgs std_srvs image_transport ddynamic_reconfigure diagnostic_updater +# INCLUDE_DIRS include +# LIBRARIES perception +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) +#added by tino +# catkin_install_python(PROGRAMS +# src/opponent_trajectory.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/perception.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/perception_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +#catkin_install_python(PROGRAMS +# camera_segmentation/src/cs_node.py +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +#) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_perception.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + + diff --git a/perception/README.md b/perception/README.md new file mode 100644 index 0000000..72c736d --- /dev/null +++ b/perception/README.md @@ -0,0 +1,62 @@ +# Opponent Detection & Tracking +![Perception Architecture](./misc/perception_arch.png) + +This directory contains the Opponent Detection & Tracking system of the ForzaETH F110 Team. The Opponent Detection system is divided into two main components, namely the Opponent Detection and the Opponent Trackeing subsystems. +The Opponent Detection system is only executed when the car is in headtohead mode. After a successful launch, you should see the following messages from the Perception system: +- `[Opponent Detection]: Ready` +- `[Opponent Tracking]: Ready` + +## Overview +This section provides a short overview of the two subsystems. +### Opponent Detection +This system detects obstacles on the racetrack. For this, the laser scans are segmented into smaller objects, which are then filtered based on their size and position. A rectangle fitting method is applied for better feature extraction. The detected obstacles are then passed to the `Opponent Tracking` algorithm. + +### Opponent Tracking +The tracking algorithm keeps track of the detected obstacles and associates them. Furthermore, it classifies the obstacles into the classes `static` and `dynamic` based on their standard deviation. In the last step, a prediction for the obstacles is made. For `static` obstacles, a simple averaging method is applied, while the prediction for `dynamic` obstacles is made with a Kalman Filter. + +## Dynamic Reconfigurable Parameters +There are several parameters that can be dynamically reconfigured. To do this, launch `rqt` and select `dynamic_tracker_server` +A short overview of the reconfigurable parameters: +### Opponent Detection +- `min_obs_size`: Minimum size of the point cloud in `#laser_points`. Is used to filter FP. +- `max_obs_size`: Maximum size of an object in `meters`. Is used to filter FP. +- `max_viewing_distance`: The maximum range for which obstacles can be detected. Currently, the maximum range allowed at F1TENTH is 10m. +- `boundaries_inflation`: This parameter artificially increases the thickness of the track boarders. Can help to filter FP along the boundaries. + +### Opponent Tracking +- `ttl_dynamic`: The time-to-live of the dynamic prediction for the opponent obstacle. +- `ratio_to_glob_path`: The ratio between the target velocity of the opponent obstacle and the global velocity (i.e., the velocity of our car). Defines to which target speed the dynamic prediction will convert. If set to 1, the target velocity is equal to the race line speed. +- `ttl_static`: The time-to-live for static and not-classified obstacles. Be aware that the TTL of static obstacles is only decreased if they are visible. This is not the case if `noMemoryMode` is set to `TRUE` +- `min_nb_meas`: Minimum number of measurements of a given obstacle before it gets classified as either static or dynamic. +- `dist_deletion`: Distance up to which obstacles can be deleted. +- `dist_infromt`: Distance up to which obstacles in front of the car are published. +- `min_std`: Standard deviation of the (s,d) position up to which obstacles are classified as static. Needs to be increased when using SynPF. +- `max_std`: Standard deviation of the (s,d) position above which obstacles are immediately classified as dynamic. Needs to be increased when using SynPF. +- `vs_reset`: Average velocity under which dynamic obstacles get reset to static. +- `aggro_multi`: A multiplier for the association distance for dynamic obstacles. +- `debug_mode`: Will enable some outputs to the console for debugging. +- `publish_static`: When set to `FALSE`, static obstacles will no longer be published. Can help in races with a lot of FP. +- `noMemoryMode`: When set to `TRUE`, obstacles will not be stored, and only the currently visible obstacles are published. Can help in races. + +## Other Parameters +This is a brief explanation of parameters, which are not dynamically reconfigurable. They can be found in `stack_master/config/opponent_tracker_params.yaml` +### Opponent Detection +- `rate`: The rate at which the node is running. +- `lambda`: The minimum reliable detection angle in `degrees`. +- `sigma`: The standard deviation for the noise of the LiDAR ranges in `meters`. +- `min_2_points_dist`: The minimum distance between two LiDAR points. + +### Opponent Tracking +- `rate`: The rate at which the node is running. +- `P_d`: Kalman Filter proportional gain for the distance in d direction +- `P_vs`: Kalman Filter proportional gain for the velocity in s direction +- `P_vd`: Kalman Filter proportional gain for the velocity in d direction +- `measurment_var_s`: The variance of the measurement noise in the s direction. +- `measurment_var_d`: The variance of the measurement noise in the d direction. +- `measurment_var_vs`: The variance of the measurement noise for the velocity in s direction. +- `measurment_var_vd`: The variance of the measurement noise for the velocity in d direction. +- `process_var_vs`: The variance of the process velocity noise for the velocity in s direction. +- `process_var_vd`: The variance of the process velocity noise for the velocity in d direction. +- `max_dist`: The maximal distance for the association of obstacles. +- `var_pub`: Obstacles that have a higher variance will not be published. + diff --git a/perception/cfg/dyn_tracker_tuner.cfg b/perception/cfg/dyn_tracker_tuner.cfg new file mode 100644 index 0000000..203ed1d --- /dev/null +++ b/perception/cfg/dyn_tracker_tuner.cfg @@ -0,0 +1,32 @@ +#!/usr/bin/env python3 +PACKAGE = "perception" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('perception') + +gen = ParameterGenerator() +# tracking +gen.add("ttl_dynamic", int_t, 0, "Time to live of dynamic preditction from kalman filter", 40, 5, 300) +gen.add("ratio_to_glob_path", double_t, 0, "the ratio between the target velocity and the global velocity", 0.6, 0.1, 2) +gen.add("ttl_static", int_t, 0, "time to live of static and not classified obstacles", 3, 1, 20) +gen.add("min_nb_meas", int_t, 0, "minimum number of measurments before classifying an object", 5, 3, 10) +gen.add("dist_deletion", double_t, 0, "distance in which obstacles can be deleted", 7, 3, 10) +gen.add("dist_infront", double_t, 0, "obstacles infront of the car by this distance are published", 8, 3, 10) +gen.add("min_std", double_t, 0, "minimum standard deviation under which obstacles are classified as static", 0.16, 0.05, 0.3) +gen.add("max_std", double_t, 0, "mamixmum standard deviation over which obstacles are classified as dynamic", 0.2, 0.15, 0.5) +gen.add("vs_reset", double_t, 0, "average velocity in s direction under which dynamic obstacle gets reset to static", 0.1, 0.01, 0.5) +gen.add("aggro_multi", double_t, 0, "multplies the association distance for dynamic obstacles", 2, 1, 10) +gen.add("debug_mode", bool_t, 0, "activate/deactivate prints for debugging", False) +gen.add("publish_static", bool_t, 0, "activate/deactivate publishing of static obstacles", True) +gen.add("noMemoryMode", bool_t, 0, "sets tracking into no Memory mode", True) + +# detection +gen.add("min_obs_size", int_t, 0, "minimum cloud point size of an obstacle", 10, 5, 40) +gen.add("max_obs_size", double_t, 0, "maximum size of an obstacle in meters", 0.5, 0.1, 1) +gen.add("max_viewing_distance", double_t, 0, " max reliable distance from the LiDAR", 9, 3, 10) +gen.add("boundaries_inflation", double_t, 0, "Offset of the track boundaries towards the center", 0.1, 0, 2) + + +exit(gen.generate(PACKAGE, "tracker_dynamic_tuner", "dyn_tracker_tuner")) \ No newline at end of file diff --git a/perception/misc/perception_arch.png b/perception/misc/perception_arch.png new file mode 100644 index 0000000..308d236 Binary files /dev/null and b/perception/misc/perception_arch.png differ diff --git a/perception/opponent_tracker/launch/opponent_track.launch b/perception/opponent_tracker/launch/opponent_track.launch new file mode 100644 index 0000000..9bf92ae --- /dev/null +++ b/perception/opponent_tracker/launch/opponent_track.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/perception/opponent_tracker/src/detect.py b/perception/opponent_tracker/src/detect.py new file mode 100755 index 0000000..5fb9f67 --- /dev/null +++ b/perception/opponent_tracker/src/detect.py @@ -0,0 +1,538 @@ +#!/usr/bin/env python3 + +import rospy +import tf +import time +from frenet_converter.frenet_converter import FrenetConverter +from f110_msgs.msg import WpntArray +from sensor_msgs.msg import LaserScan +from geometry_msgs.msg import Point +from std_msgs.msg import Float32 +from bisect import bisect_left +from nav_msgs.msg import Odometry +import math +import numpy as np +from tf.transformations import quaternion_from_euler +from dynamic_reconfigure.msg import Config + +from visualization_msgs.msg import Marker,MarkerArray + +from f110_msgs.msg import ObstacleArray +from f110_msgs.msg import Obstacle as ObstacleMessage + +def normalize_s(x,track_length): + x = x % (track_length) + if x > track_length/2: + x -= track_length + return x + + +class Obstacle : + """ + This class implements the properties of the obstacles + """ + current_id = 0 + def __init__(self,x,y,size,theta) -> None: + self.center_x = x + self.center_y = y + self.size = size + self.id = None + self.theta = theta + + def squaredDist(self, obstacle): + return (self.center_x-obstacle.center_x)**2+(self.center_y-obstacle.center_y)**2 + + +class Detect : + """ + This class implements a ROS node that detects obstacles on the track + + It subscribes to the following topics: + - `/scan`: Publishes the lidar scans + - `/global_waypoints`: Publishes the global waypoints + - `/odom_frenet`: Publishes the car state in frenet frame + + + The node publishes the following topics: + - `/breakpoints_markers`: Publishes the breakpoint markers of the obstacles + - `/detect_bound`: Publishes the detect boundaries + - `/raw_obstacles`: Publishes the detected obstacles + - `/obstacles_markers_new`: Publishes the markers of the detected obstacles + """ + def __init__(self) -> None: + """ + Initialize the node, subscribe to topics, and create publishers and service proxies + """ + self.converter = None + + # --- Node properties --- + rospy.init_node('StaticDynamic', anonymous=True) + rospy.on_shutdown(self.shutdown) + + self.measuring = rospy.get_param("/measure", False) + self.from_bag = rospy.get_param("/from_bag", False) + + # --- Subscribers --- + rospy.Subscriber('/scan', LaserScan, self.laserCb) + rospy.Subscriber('/global_waypoints', WpntArray, self.pathCb) + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.carStateCb) + if not self.from_bag: + rospy.Subscriber("/dynamic_tracker_server/parameter_updates", Config, self.dyn_param_cb) + + # --- Publisher --- + self.breakpoints_markers_pub = rospy.Publisher('/perception/breakpoints_markers', MarkerArray, queue_size=5) + self.boundaries_pub = rospy.Publisher('/perception/detect_bound', Marker, queue_size=5) + self.obstacles_msg_pub = rospy.Publisher('/perception/detection/raw_obstacles', ObstacleArray, queue_size=5) + self.obstacles_marker_pub = rospy.Publisher('/perception/obstacles_markers_new', MarkerArray, queue_size=5) + if self.measuring: + self.latency_pub = rospy.Publisher('/perception/detection/latency', Float32, queue_size=5) + + # --- Tunable params --- + self.rate = rospy.get_param("/detect/rate") + self.lambda_angle = rospy.get_param("/detect/lambda")*math.pi/180 + self.sigma = rospy.get_param("/detect/sigma") + self.min_2_points_dist = rospy.get_param("/detect/min_2_points_dist") + + # --- dyn params sub --- + self.min_obs_size = 10 + self.max_obs_size = 0.5 + self.max_viewing_distance = 9 + self.boundaries_inflation = 0.1 + + # --- variables --- + + # track variables + self.waypoints = None + self.biggest_d = None + self.smallest_d = None + self.s_array = None + self.d_right_array = None + self.d_left_array = None + self.track_length = None + + # ego car s position + self.car_s = 0 + + # raw scans from the lidar + self.scans = None + + self.current_stamp = None + self.tracked_obstacles = [] + + self.tf_listener = tf.TransformListener() + self.path_needs_update = False + + while(self.waypoints is None): + rospy.sleep(0.1) + print("[Opponent Detection]: waiting ...") + + self.converter = self.initialize_converter() + + def shutdown(self): + rospy.logwarn('Opponent Detection is shutdown') + + def initialize_converter(self): + """ + Initialize the FrenetConverter object + """ + + # Initialize the FrenetConverter object + converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo("[Opponent Detection]: initialized FrenetConverter object") + + return converter + + # --- Callback functions --- + + def laserCb(self, msg): + self.scans = msg + + def pathCb(self, data): + # Initial calls: initialize the converter + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in data.wpnts]) + + # Second call: create the boundaries arrays + if (self.s_array is None or self.path_needs_update) and self.converter is not None: + rospy.loginfo('[Opponent Detection]: received global path') + waypoint_array = data.wpnts + points=[] + self.s_array = [] + self.d_right_array = [] + self.d_left_array = [] + for waypoint in waypoint_array: + self.s_array.append(waypoint.s_m) + self.d_right_array.append(waypoint.d_right-self.boundaries_inflation) + self.d_left_array.append(waypoint.d_left-self.boundaries_inflation) + resp = self.converter.get_cartesian(waypoint.s_m,-waypoint.d_right+self.boundaries_inflation) + points.append(Point(resp[0],resp[1],0)) + resp = self.converter.get_cartesian(waypoint.s_m,waypoint.d_left-self.boundaries_inflation) + points.append(Point(resp[0],resp[1],0)) + self.smallest_d = min(self.d_right_array+self.d_left_array) + self.biggest_d = max(self.d_right_array+self.d_left_array) + self.track_length = data.wpnts[-1].s_m + + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.id = 0 + marker.type = marker.SPHERE_LIST + marker.scale.x = 0.02 + marker.scale.y = 0.02 + marker.scale.z = 0.02 + marker.color.a = 1 + marker.color.g = 0. + marker.color.r = 1. + marker.color.b = 0. + marker.points = points + + self.boundaries_pub.publish(marker) + self.path_needs_update = False + + def carStateCb(self, data): + self.car_s = data.pose.pose.position.x + + def dyn_param_cb(self, params: Config): + self.min_obs_size = rospy.get_param('dynamic_tracker_server/min_obs_size', 10) + self.max_obs_size = rospy.get_param('dynamic_tracker_server/max_obs_size', 0.5) + self.max_viewing_distance = rospy.get_param('dynamic_tracker_server/max_viewing_distance', 9) + self.boundaries_inflation = rospy.get_param('dynamic_tracker_server/boundaries_inflation', 0.1) + + self.path_needs_update = True + param_list = [self.min_obs_size, self.max_obs_size, self.max_viewing_distance] + print(f'[Opponent Detection]: New dyn reconf values recieved: Min size {param_list[0]} [laser points], Max size {param_list[1]} [m], max viewing dist {param_list[2]} [m]') + + # --- Functions --- + + def clearmarkers(self) -> list: + marker = Marker() + marker.action = 3 + return [marker] + + def laserPointOnTrack (self, s, d) -> bool: + if normalize_s(s-self.car_s,self.track_length)>self.max_viewing_distance: + return False + if abs(d) >= self.biggest_d: + return False + if abs(d) <= self.smallest_d: + return True + idx = bisect_left(self.s_array, s) + if idx: + idx -= 1 + if d <= -self.d_right_array[idx] or d >= self.d_left_array[idx]: + return False + return True + + def scans2ObsPointCloud(self): + """ + Converts the lidar scans to a 2D PointCloud and segments them into objects + """ + + # --- initialisation of some sutility parameters --- + l = self.lambda_angle + d_phi = self.scans.angle_increment + sigma = self.sigma + + # --- transform the scan ranges to a cloud point --- + self.current_stamp = rospy.Time.now() + try: + lct = self.tf_listener.getLatestCommonTime("map", "laser") + except: + rospy.logerr("[Opponent Detection]: lookup Tranform between map and laser not possible") + empty = [] + return empty + trans, quat = self.tf_listener.lookupTransform('/map', '/laser', lct) + T = np.array(trans) + R = tf.transformations.quaternion_matrix(quat) + + angles = np.linspace(self.scans.angle_min, self.scans.angle_max, len(self.scans.ranges)) + x_lf = (self.scans.ranges * np.cos(angles)).flatten() + y_lf = (self.scans.ranges * np.sin(angles)).flatten() + z_lf = (-T[0] * np.ones(len(self.scans.ranges))).flatten() + xyz_lf = np.vstack((x_lf, y_lf, z_lf, np.ones(len(self.scans.ranges)))) + + H_l2m = R + H_l2m[:3, -1] = T + + xyz_map = H_l2m @ xyz_lf + + cloudPoints_list = [] + for i in range(xyz_map.shape[1]): + pt = (xyz_map[0,i], xyz_map[1,i]) + cloudPoints_list.append(pt) + + # -------------------------------------------------- + # segment the cloud point into smaller point clouds + # that represent potential object using the adaptive + # method + # -------------------------------------------------- + + objects_pointcloud_list = [[[cloudPoints_list[0][0],cloudPoints_list[0][1]]]] + for idx, point in enumerate(cloudPoints_list): + if (idx == 0): + continue + dist = math.sqrt(point[0]**2 + point[1]**2) + d_max = (dist * math.sin(d_phi)/math.sin(l-d_phi)+3*sigma) / 2 + if (math.dist([cloudPoints_list[idx-1][0],cloudPoints_list[idx-1][1]], + [point[0],point[1]])>d_max): + objects_pointcloud_list.append([[point[0],point[1]]]) + else: + objects_pointcloud_list[-1].append([point[0],point[1]]) + + # ------------------------------------------------ + # removing point clouds that are too small or too + # big or that have their center point not on the + # track + # ------------------------------------------------ + + x_points = [] + y_points = [] + for obs in objects_pointcloud_list: + x_points.append(obs[int(len(obs)/2)][0]) + y_points.append(obs[int(len(obs)/2)][1]) + s_points, d_points = self.converter.get_frenet(np.array(x_points), np.array(y_points)) + + + remove_array=[] + for idx, object in enumerate(objects_pointcloud_list): + if len(object) < self.min_obs_size: + remove_array.append(object) + continue + if not (self.laserPointOnTrack(s_points[idx], d_points[idx])): + remove_array.append(object) + continue + + for object in remove_array: + objects_pointcloud_list.remove(object) + + markers_array = [] + for idx,object in enumerate(objects_pointcloud_list): + #first element + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.current_stamp + marker.id = idx*10 + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 0.5 + marker.color.g = 1. + marker.color.r = 0. + marker.color.b = idx/len(objects_pointcloud_list) + marker.pose.position.x = object[0][0] + marker.pose.position.y = object[0][1] + marker.pose.orientation.w = 1 + markers_array.append(marker) + + #last element + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.current_stamp + marker.id = idx*10+2 + marker.type = marker.SPHERE + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + marker.color.a = 0.5 + marker.color.g = 1. + marker.color.r = 0. + marker.color.b = idx/len(objects_pointcloud_list) + marker.pose.position.x = object[-1][0] + marker.pose.position.y = object[-1][1] + marker.pose.orientation.w = 1 + markers_array.append(marker) + + self.breakpoints_markers_pub.publish(self.clearmarkers()) + self.breakpoints_markers_pub.publish(markers_array) + return objects_pointcloud_list + + def obsPointClouds2obsArray (self,objects_pointcloud_list): + current_obstacle_array =[] + min_dist = self.min_2_points_dist + for obstacle in objects_pointcloud_list: + + # --- fit a rectangle to the data points --- + theta = np.linspace(0,np.pi/2-np.pi/180,90) + cos_theta = np.cos(theta) + sin_theta = np.sin(theta) + distance1 = np.dot(obstacle,[cos_theta,sin_theta]) + distance2 = np.dot(obstacle,[-sin_theta,cos_theta]) + D10 = -distance1 + np.amax(distance1,axis=0) + D11 = distance1 - np.amin(distance1,axis=0) + D20 = -distance2 + np.amax(distance2,axis=0) + D21 = distance2 - np.amin(distance2,axis=0) + min_array = np.argmin([np.linalg.norm(D10,axis=0),np.linalg.norm(D11,axis=0)],axis=0) + D10 = np.transpose(D10) + D11 = np.transpose(D11) + D10[min_array==1]=D11[min_array==1] + D10 = np.transpose(D10) + min_array = np.argmin([np.linalg.norm(D20,axis=0),np.linalg.norm(D21,axis=0)],axis=0) + D20 = np.transpose(D20) + D21 = np.transpose(D21) + D20[min_array==1]=D21[min_array==1] + D20 = np.transpose(D20) + D = np.minimum(D10,D20) + D[Dnp.var(distances1)): # the obstacle has more detection in the verticle direction + if (np.linalg.norm(-distances1+max_dist1) self.max_obs_size): + remove_list.append(obs) + + for obs in remove_list: + current_obstacles.remove(obs) + + for idx, curr_obs in enumerate(current_obstacles): + curr_obs.id = idx + self.tracked_obstacles.append(curr_obs) + + def publishObstaclesMessage (self): + obstacles_array_message = ObstacleArray() + obstacles_array_message.header.stamp = self.current_stamp + obstacles_array_message.header.frame_id = "map" + + x_center = [] + y_center = [] + for obstacle in self.tracked_obstacles: + x_center.append(obstacle.center_x) + y_center.append(obstacle.center_y) + + s_points, d_points = self.converter.get_frenet(np.array(x_center), np.array(y_center)) + + for idx, obstacle in enumerate(self.tracked_obstacles): + s = s_points[idx] + d = d_points[idx] + + obsMsg = ObstacleMessage() + obsMsg.id = obstacle.id + obsMsg.s_start = s-obstacle.size/2 + obsMsg.s_end = s+obstacle.size/2 + obsMsg.d_left = d+obstacle.size/2 + obsMsg.d_right = d-obstacle.size/2 + obsMsg.s_center = s + obsMsg.d_center = d + obsMsg.size = obstacle.size + + obstacles_array_message.obstacles.append(obsMsg) + self.obstacles_msg_pub.publish(obstacles_array_message) + + + def publishObstaclesMarkers(self): + markers_array = [] + for obs in self.tracked_obstacles: + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.current_stamp + marker.id = obs.id + marker.type = marker.CUBE + marker.scale.x = obs.size + marker.scale.y = obs.size + marker.scale.z = obs.size + marker.color.a = 0.5 + marker.color.g = 1. + marker.color.r = 0. + marker.color.b = 1. + marker.pose.position.x = obs.center_x + marker.pose.position.y = obs.center_y + q = quaternion_from_euler(0, 0, obs.theta) + marker.pose.orientation.x = q[0] + marker.pose.orientation.y = q[1] + marker.pose.orientation.z = q[2] + marker.pose.orientation.w = q[3] + markers_array.append(marker) + self.obstacles_marker_pub.publish(self.clearmarkers()) + self.obstacles_marker_pub.publish(markers_array) + Obstacle.current_id = 0 + + + def main (self): + rate = rospy.Rate(self.rate) + rospy.loginfo('[Opponent Detection]: Waiting for global wpnts') + rospy.wait_for_message('/global_waypoints', WpntArray) + rospy.loginfo('[Opponent Detection]: Ready') + while not rospy.is_shutdown(): + if self.measuring: + start_time = time.perf_counter() + objects_pointcloud_list= self.scans2ObsPointCloud() + current_obstacles = self.obsPointClouds2obsArray(objects_pointcloud_list) + self.checkObstacles(current_obstacles) + if self.measuring: + end_time = time.perf_counter() + latency = end_time - start_time + self.latency_pub.publish(latency) + self.publishObstaclesMessage() + self.publishObstaclesMarkers() + rate.sleep() + + +if __name__ == '__main__': + detect = Detect() + detect.main() diff --git a/perception/opponent_tracker/src/dynamic_tracker_server.py b/perception/opponent_tracker/src/dynamic_tracker_server.py new file mode 100755 index 0000000..109d085 --- /dev/null +++ b/perception/opponent_tracker/src/dynamic_tracker_server.py @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +import rospy +from dynamic_reconfigure.server import Server +from perception.cfg import dyn_tracker_tunerConfig + +def callback(config, level): + # tracking + config.dist_deletion = round(config.dist_deletion * 20) / 20 + config.dist_infront = round(config.dist_infront * 20) /20 + config.min_std = round(min(config.min_std, config.max_std) * 100) / 100 + config.max_std = round(max(config.min_std + 0.01, config.max_std) * 100) / 100 + config.vs_reset = round(config.vs_reset * 100) / 100 + config.aggro_multi = round(config.aggro_multi *10) / 10 + config.ratio_to_glob_path = round(config.ratio_to_glob_path * 10) / 10 + + # detection + config.max_obs_size = round(config.max_obs_size * 10) / 10 + config.max_viewing_distance = round(config.max_viewing_distance * 20) / 20 + config.boundaries_inflation = round(config.boundaries_inflation *100) / 100 + return config + +if __name__ == "__main__": + rospy.init_node("dynamic_tracker_server", anonymous=False) + print('[Opponent Tracking] Dynamic Tracker Server Launched...') + srv = Server(dyn_tracker_tunerConfig, callback) + rospy.spin() \ No newline at end of file diff --git a/perception/opponent_tracker/src/tracking.py b/perception/opponent_tracker/src/tracking.py new file mode 100755 index 0000000..94ad887 --- /dev/null +++ b/perception/opponent_tracker/src/tracking.py @@ -0,0 +1,825 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +import math +import time +import numpy as np +import rospy + +from std_msgs.msg import Float32 +from f110_msgs.msg import WpntArray +from sensor_msgs.msg import LaserScan +from filterpy.common import Q_discrete_white_noise +from filterpy.kalman import ExtendedKalmanFilter as EKF +from frenet_converter.frenet_converter import FrenetConverter +from nav_msgs.msg import Odometry +from scipy.linalg import block_diag +from visualization_msgs.msg import Marker,MarkerArray +from tf.transformations import euler_from_quaternion +from dynamic_reconfigure.msg import Config + +from f110_msgs.msg import ObstacleArray,Obstacle + +def normalize_s(s,track_length): + s = s % (track_length) + if s > track_length/2: + s -= track_length + return s + + +class Opponent_state: + """ + This class implements the opponent with a kalman filter + """ + track_length = None + waypoints = None + rate = None #hz + dt = None + ttl = None + P_vs = None + P_d = None + P_vd = None + measurment_var_s = None + measurment_var_d = None + measurment_var_vs = None + measurment_var_vd = None + process_var_vs = None + process_var_vd = None + ratio_to_glob_path = None + def __init__(self): + """ + Initializes the kalman filter + """ + self.id = None + self.size = None + self.isInitialised = False + self.vs_list = [] + self.avg_vs = 0 + self.useTargetVel = False + + #---------------------------------------------------------------- + # --- initialization of the kalman filter --- + # the state of the kalman filter is : + # X = [s, v_s, d, v_d] + # + # the measurment of the kalman filter is : + # Z = [s, d] + # + # the model of the kalman filter is constant velocity in the + # frenet frame added to that: + # - A target velocity for the s direction to be proportional to + # the precaculated velocity of the path + # - A target velocity in the d direction that bring it back to 0 + # - A target position in the d direction that bring it back to 0 + #--------------------------------------------------------------- + + self.dynamic_kf = EKF(dim_x=4, dim_z=2) + self.dynamic_kf.F = np.array([[1., Opponent_state.dt, 0., 0.], + [0., 1, 0, 0.], + [0., 0., 1, Opponent_state.dt], + [0., 0., 0., 1]]) + q1 =Q_discrete_white_noise(dim= 2, dt= 1./Opponent_state.rate ,var=Opponent_state.process_var_vs) + q2 =Q_discrete_white_noise(dim= 2, dt=1./Opponent_state.rate, var=Opponent_state.process_var_vd) + self.dynamic_kf.Q = block_diag(q1, q2) + self.dynamic_kf.H = np.identity(4) + self.dynamic_kf.R = np.diag([Opponent_state.measurment_var_s, Opponent_state.measurment_var_vs, + Opponent_state.measurment_var_d, Opponent_state.measurment_var_vd]) + self.dynamic_kf.P = np.array([[Opponent_state.measurment_var_s, 0., 0., 0.], + [0., Opponent_state.process_var_vs, 0., 0.], + [0., 0., Opponent_state.measurment_var_d, 0.], + [0., 0., 0., Opponent_state.process_var_vd]]) + self.dynamic_kf.B = np.identity(4) + + filter_length = 5 + self.vs_filt = np.zeros(filter_length) + self.vd_filt = np.zeros(filter_length) + + # --- defining some utility functions --- + def residual_h(a,b): + y = a-b + y[0] = normalize_s(y[0],Opponent_state.track_length) + return y + + def Hjac(self): + return np.identity(4) + + def hx(x): + return np.array([normalize_s(x[0], + Opponent_state.track_length),x[1], x[2], x[3]]) + + def target_velocity(self) : + idx_closest_waypoint = int((self.dynamic_kf.x[0]*10)%Opponent_state.track_length) + return Opponent_state.ratio_to_glob_path*Opponent_state.waypoints[idx_closest_waypoint].vx_mps + + # --------------------------------------- + # defining the predict and update + # functions for the kalman filter + # --------------------------------------- + + def predict (self): + if self.useTargetVel: + self.dynamic_kf.predict(u=[0,Opponent_state.P_vs*(self.target_velocity()-self.dynamic_kf.x[1]), + -Opponent_state.P_d*self.dynamic_kf.x[2],-Opponent_state.P_vd*self.dynamic_kf.x[3]]) + else: + self.dynamic_kf.predict(u=[0, 0, + -Opponent_state.P_d*self.dynamic_kf.x[2],-Opponent_state.P_vd*self.dynamic_kf.x[3]]) + self.dynamic_kf.x[0] = normalize_s(self.dynamic_kf.x[0],Opponent_state.track_length) + + def update(self, tracked_obstacle: ObstacleSD): + + vs = ((2/3 * (tracked_obstacle.measurments_s[-1] - tracked_obstacle.measurments_s[-2])*self.rate) + + (1/3 * (tracked_obstacle.measurments_s[-2] - tracked_obstacle.measurments_s[-3])*self.rate)) + + if not (vs > -1 and vs < 8): + self.isInitialised = False + return + + z = np.array([ + tracked_obstacle.measurments_s[-1], + vs, + tracked_obstacle.measurments_d[-1], + (tracked_obstacle.measurments_d[-1] - tracked_obstacle.measurments_d[-2])*self.rate, + ]) + + self.dynamic_kf.update( + np.array([ + normalize_s(z[0],Opponent_state.track_length), z[1], z[2], z[3] + ]), + Opponent_state.Hjac, + Opponent_state.hx, + residual=Opponent_state.residual_h + ) + self.dynamic_kf.x[0] = normalize_s(self.dynamic_kf.x[0],Opponent_state.track_length) + + self.vs_list.append(self.dynamic_kf.x[1]) + if(len(self.vs_list) > 20): + self.vs_list = self.vs_list[-10:] + + self.avg_vs = 0 + for v in self.vs_list: + self.avg_vs += v + self.avg_vs /= len(self.vs_list) + + self.vs_filt[0] = self.dynamic_kf.x[1] + self.vs_filt[1:] = self.vs_filt[:-1] + self.vd_filt[0] = self.dynamic_kf.x[3] + self.vd_filt[1:] = self.vd_filt[:-1] + + if(len(self.vs_list) >=10): + self.vs_list.pop(0) + self.vs_list.append(self.dynamic_kf.x[1]) + +# ---------------------------------------------------------------- +# create a class to define what are the properties of an obstacle +# ---------------------------------------------------------------- +class ObstacleSD: + """ + This Class implements the propoerties of the static/dynamic obstacles + """ + min_nb_meas = None + ttl = None + min_std = None + max_std = None + + def __init__(self, id, s_meas, d_meas, lap, size, isVisible): + """ + Initialize the static/dynamic obstacle + """ + # --- variable --- + self.id = id + self.measurments_s = [s_meas] + self.measurments_d = [d_meas] + self.mean = [s_meas,d_meas] # [mean_s. mean_d] + self.static_count = 0 + self.total_count = 0 + self.nb_meas = 0 + self.ttl = ObstacleSD.ttl + self.isInFront = True + self.current_lap = lap + self.staticFlag = None + self.size = size + self.nb_detection = 0 + self.isVisible = isVisible + + def update_mean(self,track_length): + if (self.nb_meas == 0): + self.mean = [self.measurments_s[-1],self.measurments_d[-1]] + else: + # ------------------------------------------------------------------------------------ + # since we know the number of measurments and the previous mean, to not loop + # through all the data the current mean is just a weighted sum between the + # previous mean weighted by the number of measurments and the new measurment + # ------------------------------------------------------------------------------------ + + self.mean[1] = (self.mean[1]*self.nb_meas+self.measurments_d[-1])/(self.nb_meas+1) + + # ------------------------------------------------------------------------------------ + # to account for the wrapping in the process we can transform the s measurments into + # angles ranging from 0 to 2 pi and do the weighted sum over unitary vectors with those + # angles and then convert the resulting angle back to an s measurment + # ------------------------------------------------------------------------------------ + + previous_mean_rad = self.mean[0]*2*math.pi/track_length + current_meas_rad = self.measurments_s[-1]*2*math.pi/track_length + cos_mean_angle = (math.cos(previous_mean_rad)*self.nb_meas+math.cos(current_meas_rad))/(self.nb_meas+1) + sin_mean_angle = (math.sin(previous_mean_rad)*self.nb_meas+math.sin(current_meas_rad))/(self.nb_meas+1) + mean_angle = math.atan2(sin_mean_angle,cos_mean_angle) + mean_s = mean_angle*track_length/2/math.pi + self.mean[0] = mean_s if mean_s>=0 else mean_s+track_length + + def std_s (self,track_length): + sum = 0 + mean_s = self.mean[0] + for s in self.measurments_s: + sum += normalize_s(s-mean_s,track_length)**2 + return (sum/len(self.measurments_s))**0.5 + + def std_d (self): + return np.std(self.measurments_d) + + def isStatic(self,track_length): + # --- get a representative data set for the obstacle --- + if self.nb_meas > ObstacleSD.min_nb_meas: + std_s = self.std_s(track_length) + std_d = self.std_d() + # --- create a voting system so that the outliers don't affect much the result --- + if (std_s < ObstacleSD.min_std and std_d < ObstacleSD.min_std): + self.static_count = self.static_count +1 + # --- assert for sure that an obstacle is dynamic and not static --- + elif (std_s > ObstacleSD.max_std or std_d > ObstacleSD.max_std): + self.static_count = 0 + self.total_count = self.total_count +1 + self.staticFlag = self.static_count/self.total_count >= 0.5 + else: + self.staticFlag = None + +class StaticDynamic: + """ + This class implements a ROS node that classifies an publishes obstacles. + + It subscribes to the following topics: + - `/raw_obstacles`: Publishes the raw obstacle data. + - `/global_waypoints`: Publishes the global waypoints. + - `/odom_frenet`: Publishes the car state in frenet frame. + - `/odom`: Publishes the car state in glob frame. + - `/scan`: Publishes the lidar scans. + + It publishes the following topics: + - `/static_dynamic_marker_pub`: Publishes the obstacle markers + - `/obstacles`: Publishes the obstacles + - `/raw_obstacles`: Publishes the obstacles without Kalman Filtering + """ + def __init__(self): + """ + Initialize the node, subscribe to topics, and create publishers and service proxies. + """ + # --- Node properties --- + rospy.init_node('StaticDynamic', anonymous=True) + rospy.on_shutdown(self.shutdown) + + # --- Variables --- + self.meas_obstacles = [] + self.tracked_obstacles = [] + self.waypoints = None + self.car_s = None + self.car_position = None + self.car_orientation = None + self.last_car_s = 0 + self.current_lap = 0 + self.globalpath = None + self.track_length = None + self.opponent_obstacle = None + self.current_stamp = None + self.scans = None + self.current_id = 1 + self.from_bag = rospy.get_param("/from_bag", False) + self.measuring = rospy.get_param("/measure", False) + + + # --- Subscribers --- + rospy.Subscriber('/perception/detection/raw_obstacles', ObstacleArray, self.obstacleCallback) + rospy.Subscriber('/global_waypoints', WpntArray, self.pathCallback) + rospy.Subscriber('/car_state/odom_frenet', Odometry, self.carStateCallback) + rospy.Subscriber('/car_state/odom', Odometry, self.carStateGlobCallback) + rospy.Subscriber('/scan', LaserScan, self.scansCallback) + if not self.from_bag: + rospy.Subscriber("/dynamic_tracker_server/parameter_updates", Config, self.dyn_param_cb) + + # --- Publisher --- + self.static_dynamic_marker_pub = rospy.Publisher('/perception/static_dynamic_marker_pub', MarkerArray, queue_size=5) + self.estimated_obstacles_pub = rospy.Publisher('/perception/obstacles', ObstacleArray, queue_size=5) + self.raw_opponent_pub = rospy.Publisher('/perception/raw_obstacles', ObstacleArray, queue_size=5) + if self.measuring: + self.latency_pub = rospy.Publisher('/perception/tracking/latency', Float32, queue_size=10) + + # --- Tunable Parameters --- + self.rate = rospy.get_param("/tracking/rate") + + Opponent_state.rate = self.rate + Opponent_state.dt = 1/self.rate + Opponent_state.P_vs = rospy.get_param("/tracking/P_vs") + Opponent_state.P_d = rospy.get_param("/tracking/P_d") + Opponent_state.P_vd = rospy.get_param("/tracking/P_vd") + Opponent_state.measurment_var_s = rospy.get_param("/tracking/measurment_var_s") + Opponent_state.measurment_var_d = rospy.get_param("/tracking/measurment_var_d") + Opponent_state.measurment_var_vs = rospy.get_param("/tracking/measurment_var_vs") + Opponent_state.measurment_var_vd = rospy.get_param("/tracking/measurment_var_vd") + Opponent_state.process_var_vs = rospy.get_param("/tracking/process_var_vs") + Opponent_state.process_var_vd = rospy.get_param("/tracking/process_var_vd") + + self.max_dist = rospy.get_param("/tracking/max_dist") + self.var_pub = rospy.get_param("/tracking/var_pub") + + # dyn params sub + Opponent_state.ttl = 40 + Opponent_state.ratio_to_glob_path = 0.6 + ObstacleSD.ttl = 3 + ObstacleSD.min_nb_meas = 5 + ObstacleSD.min_std = 0.16 + ObstacleSD.max_std = 0.2 + self.dist_deletion = 7 + self.dist_infront = 8 + self.vs_reset = 0.1 + self.aggro_multiplier = 2 + self.debug_mode = False + self.publish_static = True + self.noMemoryMode = False + + while(self.waypoints is None): + rospy.sleep(0.1) + self.converter = self.initialize_converter() + + def dyn_param_cb(self, params: Config): + Opponent_state.ttl = rospy.get_param('dynamic_tracker_server/ttl_dynamic', 40) + Opponent_state.ratio_to_glob_path = rospy.get_param('dynamic_tracker_server/ratio_to_glob_path', 0.6) + + ObstacleSD.ttl = rospy.get_param('dynamic_tracker_server/ttl_static', 3) + ObstacleSD.min_nb_meas = rospy.get_param('dynamic_tracker_server/min_nb_meas', 5) + ObstacleSD.min_std = rospy.get_param('dynamic_tracker_server/min_std', 0.16) + ObstacleSD.max_std = rospy.get_param('dynamic_tracker_server/max_std', 0.2) + + self.dist_deletion = rospy.get_param('dynamic_tracker_server/dist_deletion', 7) + self.dist_infront = rospy.get_param('dynamic_tracker_server/dist_infront', 8) + self.vs_reset = rospy.get_param('dynamic_tracker_server/vs_reset', 0.1) + self.aggro_multiplier = rospy.get_param('dynamic_tracker_server/aggro_multi', 2) + self.debug_mode = rospy.get_param('dynamic_tracker_server/debug_mode', False) + self.publish_static = rospy.get_param('dynamic_tracker_server/publish_static', True) + self.noMemoryMode = rospy.get_param('dynamic_tracker_server/noMemoryMode', False) + + obstacle_params = [ObstacleSD.ttl, ObstacleSD.min_nb_meas, ObstacleSD.min_std, ObstacleSD.max_std] + print(f'[Tracking] Dynamic reconf triggered new tracking params: Tracking TTL: {Opponent_state.ttl}, Ratio to glob path: {Opponent_state.ratio_to_glob_path}\n' + f'ObstacleSD ttl, min_nb_meas, min_std, max_std: {obstacle_params},\n', + f'dist_deletion: {self.dist_deletion} [m], dist_infront: {self.dist_infront} [m], vs_reset: {self.vs_reset},\n', + f'Publish static obstacles: {self.publish_static}, no memory mode: {self.noMemoryMode}' + ) + + + def shutdown(self): + rospy.logwarn('Tracking is shutdown') + + # --- Callbacks --- + + def obstacleCallback(self,data): + self.meas_obstacles = data.obstacles + self.current_stamp = data.header.stamp + + def pathCallback(self, data): + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in data.wpnts]) + if self.track_length is None: + rospy.loginfo('[Tracking] received global path') + self.globalpath = data.wpnts + self.track_length = data.wpnts[-1].s_m + Opponent_state.track_length = self.track_length + Opponent_state.waypoints = self.globalpath + + def initialize_converter(self) -> bool: + """ + Initialize the FrenetConverter object""" + rospy.wait_for_message("/global_waypoints", WpntArray) + + # Initialize the FrenetConverter object + converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo("[Tracking] initialized FrenetConverter object") + + return converter + + def carStateCallback (self, data): + self.car_s = data.pose.pose.position.x + if self.last_car_s is None: + self.last_car_s = data.pose.pose.position.x + + def carStateGlobCallback(self,data): + self.car_position = np.array([data.pose.pose.position.x,data.pose.pose.position.y]) + angles = euler_from_quaternion([data.pose.pose.orientation.x, + data.pose.pose.orientation.y, + data.pose.pose.orientation.z, + data.pose.pose.orientation.w]) + theta = angles[2] + self.car_orientation = np.array([np.cos(theta),np.sin(theta)]) + + def scansCallback(self, data): + self.scans = data.ranges + + + # --- Utility Functions --- + def lap_update (self, car_s): + if car_s - self.last_car_s <-self.track_length/2: + self.current_lap +=1 + self.last_car_s = car_s + + def get_closest_pos(self, max_dist, obstacle_position, meas_obstacles_copy): + potential_obs = [] + dists = [] + for meas_obstacle in meas_obstacles_copy: + meas_obstacle_position=[meas_obstacle.s_center, + meas_obstacle.d_center] + dist = math.dist(obstacle_position,meas_obstacle_position) + if (dist0): + min_idx = np.argmin(dists) + return True, potential_obs[min_idx] + + # maybe kalman was wrong, the obstacles can't just be gone + elif(obstacle.staticFlag == False): + obstacle_position = [obstacle.mean[0], obstacle.mean[1]] + potential_obs, dists = self.get_closest_pos(max_dist, obstacle_position, meas_obstacles_copy) + if (len(dists)>0): + min_idx = np.argmin(dists) + return True, potential_obs[min_idx] + + return False, None + + def angle_to_obs(self, vec_to_obstacle: np.array, car_orientation: np.array) -> float: + norm_vec_to_obs = vec_to_obstacle/np.linalg.norm(vec_to_obstacle) + norm_car_orientation = car_orientation/np.linalg.norm(car_orientation) + + theta = np.arctan2(norm_car_orientation[1], norm_car_orientation[0]) + if theta < 0: + theta += 2*np.pi + + rot = np.array([[np.cos(theta), np.sin(theta)], [-np.sin(theta), np.cos(theta)]]) + vec_to_obs_rot = np.dot(rot, norm_vec_to_obs) + + phi = np.degrees(np.arctan2(vec_to_obs_rot[1], vec_to_obs_rot[0])) + + angle = 135 + phi # because lidar has a range of 270 deg + + return angle + + def update_tracked_obstacle(self, tracked_obstacle: ObstacleSD, meas_obstacle): + tracked_obstacle.measurments_s.append(meas_obstacle.s_center) + tracked_obstacle.measurments_d.append(meas_obstacle.d_center) + # handle list lenght + if(len(tracked_obstacle.measurments_s) > 30): + tracked_obstacle.measurments_s = tracked_obstacle.measurments_s[-20:] + tracked_obstacle.measurments_d = tracked_obstacle.measurments_d[-20:] + tracked_obstacle.update_mean(self.track_length) + tracked_obstacle.nb_meas += 1 + tracked_obstacle.isInFront = True + tracked_obstacle.isVisible = True + tracked_obstacle.current_lap = self.current_lap + tracked_obstacle.size = meas_obstacle.size + tracked_obstacle.isStatic(self.track_length) + tracked_obstacle.ttl = ObstacleSD.ttl + + return tracked_obstacle + + def initialize_dynamic_obstacle(self, tracked_obstacle): + self.opponent_obstacle.dynamic_kf.x = np.array([ + tracked_obstacle.measurments_s[-1], + (tracked_obstacle.measurments_s[-1]-tracked_obstacle.measurments_s[-2])*Opponent_state.rate, + tracked_obstacle.measurments_d[-1], + (tracked_obstacle.measurments_d[-1]-tracked_obstacle.measurments_d[-2])*Opponent_state.rate + ]) + self.opponent_obstacle.isInitialised = True + self.opponent_obstacle.id = tracked_obstacle.id + self.opponent_obstacle.ttl = Opponent_state.ttl + self.opponent_obstacle.size = tracked_obstacle.size + self.opponent_obstacle.avg_vs = 0 + self.opponent_obstacle.vs_list = [] + + def check_in_front(self, tracked_obstacle, car_s_copy) -> bool: + obj_dist_in_front = normalize_s( + tracked_obstacle.measurments_s[-1] - car_s_copy, + self.track_length) + + return 0 < obj_dist_in_front < self.dist_infront + + def calc_distance_obs_car(self, tracked_obstacle, car_s): + distance_obs_car = (tracked_obstacle.measurments_s[-1] - car_s) % self.track_length + + if self.debug_mode: + print("DIST CAR TO OBS") + print("car s: ", car_s) + print("obsatcle s: ", tracked_obstacle.measurments_s[-1]) + print("track length: ", self.track_length) + print("current lap: ", self.current_lap) + print("obstacle lap: ", tracked_obstacle.current_lap) + print("distance: ", distance_obs_car) + print("----------------------------------") + + return distance_obs_car + + def check_in_field_of_view(self, vec_car_to_obs, car_orientation_copy, dist_to_obs) -> bool: + """ + Checks if an obstacle is in the field of view by checking the corresponding lidar beams + """ + dist_to_obs = np.linalg.norm(vec_car_to_obs) + + angle = self.angle_to_obs(vec_car_to_obs, car_orientation_copy) + + max_angle = len(self.scans) - 1 + fov = int(max_angle/4) + if(angle > 135 + fov/2 or angle < 135 - fov/2): + return False + + removed_deg = 135 - int(fov/2) + + idx = int(round(4* (angle - removed_deg))) # because scans has 4*270 entries + if idx < 0 or idx > max_angle: return False + + if self.debug_mode: + print("FIELD OF VIEW:") + print("index: ", idx) + print("angle: ", angle) + print("Other lidar scans: ", str([f"{sc:.2f}" for sc in self.scans[idx-10:idx+10]])) + print("dist: ", dist_to_obs) + print("----------------------------------") + + if(dist_to_obs < min(self.scans[max(0, idx -4) : min(idx + 4, max_angle)])): + return True + + return False + + # --- update tracked obstacles, add new obstacles and remove unecessary --- + def update(self): + meas_obstacles_copy = self.meas_obstacles.copy() + car_s_copy = self.car_s + car_position_copy = np.copy(self.car_position) + car_orientation_copy = np.copy(self.car_orientation) + self.lap_update(car_s_copy) + removal_list = [] + for tracked_obstacle in self.tracked_obstacles: + # --- verify if the obstacle is tracked by position and update the associated obstacle --- + isTracked, meas_obstacle = self.verify_position(tracked_obstacle, meas_obstacles_copy) + + if isTracked: + tracked_obstacle = self.update_tracked_obstacle(tracked_obstacle, meas_obstacle) + # obstacle is classified as moving + if(tracked_obstacle.staticFlag == False): + if self.opponent_obstacle.isInitialised: + self.opponent_obstacle.useTargetVel = False + if(self.opponent_obstacle.avg_vs < self.vs_reset and len(self.opponent_obstacle.vs_list) > 10 and self.publish_static): + self.opponent_obstacle.isInitialised = False + tracked_obstacle.staticFlag = True + tracked_obstacle.static_count = 0 + tracked_obstacle.total_count = 0 + tracked_obstacle.nb_meas = 0 + else: + self.opponent_obstacle.update(tracked_obstacle) + self.opponent_obstacle.id = tracked_obstacle.id + self.opponent_obstacle.ttl = Opponent_state.ttl + self.opponent_obstacle.size = tracked_obstacle.size + else: + self.initialize_dynamic_obstacle(tracked_obstacle) + meas_obstacles_copy.remove(meas_obstacle) + + else: + # --- remove obstacle with dead ttl --- + if tracked_obstacle.ttl <= 0: + if(tracked_obstacle.staticFlag == False): + self.opponent_obstacle.useTargetVel = True + removal_list.append(tracked_obstacle) + elif tracked_obstacle.staticFlag is None: + tracked_obstacle.ttl-=1 + else: + tracked_obstacle.isInFront = self.check_in_front(tracked_obstacle, car_s_copy) + distance_obstacle_car = self.calc_distance_obs_car(tracked_obstacle, car_s_copy) + + if(tracked_obstacle.staticFlag and self.noMemoryMode): + tracked_obstacle.ttl -= 1 + # --- if obstacle is near enough check if we can see it --- + elif(distance_obstacle_car < self.dist_deletion and tracked_obstacle.staticFlag): + try: + resp = self.converter.get_cartesian(tracked_obstacle.mean[0],tracked_obstacle.mean[1]) + except: + continue + vec_car_to_obs = resp - car_position_copy + if (self.check_in_field_of_view(vec_car_to_obs, car_orientation_copy, distance_obstacle_car)): + tracked_obstacle.ttl-=1 + tracked_obstacle.isVisible = True + else: + tracked_obstacle.isVisible = False + # update ttl of moving obstacles + elif(not tracked_obstacle.staticFlag): + tracked_obstacle.ttl -= 1 + else: + tracked_obstacle.isVisible = False + + # update ttl of dynamic obstacle + if(self.opponent_obstacle.isInitialised): + if(self.opponent_obstacle.ttl <= 0): + self.opponent_obstacle.isInitialised = False + self.opponent_obstacle.useTargetVel = False + else: + self.opponent_obstacle.ttl -= 1 + + for el in removal_list: + self.tracked_obstacles.remove(el) + + for meas_obstacle in meas_obstacles_copy: + # update the init function and append a new obstacle to the new _obstacles + self.tracked_obstacles.append(ObstacleSD( + id = self.current_id, + s_meas = meas_obstacle.s_center, + d_meas = meas_obstacle.d_center, + lap = self.current_lap, + size = meas_obstacle.size, + isVisible = True + )) + self.current_id += 1 + + def clearmarkers(self): + marker = Marker() + marker.action = 3 + return [marker] + + def publish_Marker(self): + markers_array = [] + for tracked_obstacle in self.tracked_obstacles: + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.current_stamp + marker.id = tracked_obstacle.id + marker.type = marker.SPHERE + + if tracked_obstacle.isInFront : + marker.scale.x = 0.5 + marker.scale.y = 0.5 + marker.scale.z = 0.5 + else : + marker.scale.x = 0.25 + marker.scale.y = 0.25 + marker.scale.z = 0.25 + + marker.color.a = 0.5 + if tracked_obstacle.staticFlag is None: + marker.type = marker.SPHERE + marker.color.g = 0. + marker.color.r = 1. + marker.color.b = 1. + x, y = self.converter.get_cartesian(tracked_obstacle.measurments_s[-1],tracked_obstacle.measurments_d[-1]) + + marker.pose.position.x = x + marker.pose.position.y = y + marker.pose.orientation.w = 1 + + elif tracked_obstacle.staticFlag : + marker.color.g = 1. + marker.color.r = 0. + marker.color.b = 0. + x, y = self.converter.get_cartesian(tracked_obstacle.mean[0],tracked_obstacle.mean[1]) + marker.pose.position.x = x + marker.pose.position.y = y + marker.pose.orientation.w = 1 + + if tracked_obstacle.staticFlag is None and self.publish_static: + markers_array.append(marker) + elif tracked_obstacle.staticFlag and self.publish_static: + markers_array.append(marker) + if self.opponent_obstacle.isInitialised: + marker = Marker() + marker.header.frame_id = "map" + marker.header.stamp = self.current_stamp + marker.id = self.opponent_obstacle.id + marker.type = marker.SPHERE + if self.opponent_obstacle.dynamic_kf.P[0][0] + + perception + 0.0.0 + The perception package + + + + + icra_crew + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + realsense2_camera + message_generation + nav_msgs + ddynamic_reconfigure + dynamic_reconfigure + diagnostic_updater + tf + laser_geometry + sensor_msgs + cv_bridge + std_srvs + image_transport + + roscpp + rospy + std_msgs + dynamic_reconfigure + + roscpp + rospy + std_msgs + realsense2_camera + message_generation + nav_msgs + ddynamic_reconfigure + dynamic_reconfigure + diagnostic_updater + tf + laser_geometry + sensor_msgs + cv_bridge + std_srvs + image_transport + + + + + + + + + + + + + diff --git a/planner/README.md b/planner/README.md new file mode 100644 index 0000000..a37a968 --- /dev/null +++ b/planner/README.md @@ -0,0 +1,10 @@ +# Planner +![Planner](./misc/planner_arch.png) + +This directory contains the local planning system (i.e. overtaking and collision avoidance) and the global planning system (minimum curvature trajectory generation) of F110 at the PBL group + +## Global Planner +- [`gb_optimizer`](./gb_optimizer) + +## Local Planner +- [`spliner`](./spliner/README.md) diff --git a/planner/gb_optimizer/CMakeLists.txt b/planner/gb_optimizer/CMakeLists.txt new file mode 100644 index 0000000..3a4e455 --- /dev/null +++ b/planner/gb_optimizer/CMakeLists.txt @@ -0,0 +1,209 @@ +cmake_minimum_required(VERSION 3.0.2) +project(gb_optimizer) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + nav_msgs + roscpp + rospy + std_msgs + rospy_message_converter +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder + # add_message_files( + # FILES + # Wpnt.msg + # WpntArray.msg + # ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# nav_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES gb_optimizer + CATKIN_DEPENDS nav_msgs roscpp rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/gb_optimizer.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/gb_optimizer_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_gb_optimizer.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/planner/gb_optimizer/README.md b/planner/gb_optimizer/README.md new file mode 100644 index 0000000..c33b0ae --- /dev/null +++ b/planner/gb_optimizer/README.md @@ -0,0 +1,40 @@ +# Global Optimizer + +## Description +The Global Optimizer package is a ROS package designed to generate a global trajectory around a race track. It provides a node that subscribes to map and car pose information, processes this data, and publishes global waypoints, track boundaries and map informations and saves everything in a JSON file. This package is implemented in Python and uses the `rospy` library for ROS interactions. For the calculation of the global trajectory, it uses the [TUM Global Race Trajectory Optimization](https://github.com/TUMFTM/global_racetrajectory_optimization) package, which was modified so that it was possible to integrate it in our race stack. The main node `global_planner_node.py` is launched with the `mapping.launch` file from the `stack_master` package or if the `map_editor` is used. There is also a node `global_trajectory_publisher.py` for publishing the global waypoints and markers and track bounds markers frequently after they have been calculated which is launched every time the base system is launched. + +## Parameters + - `rate`: Sets the rate in hertz at which the ROS node is running. + - `test_on_car`: Defines if the global optimizer is running on the car `True` or in simulation `False`. + - `safety_width`: Sets the width of the car in meters including a safety margin for the calculation of the global trajectory. + - `safety_width_sp`: Sets the width of the car in meters including a safety margin for the calculation of the shortest path trajectory. + - `occupancy_grid_threshold`: Sets the threshold above which a cell in the occupancy grid is considered occupied and below it is considered free. + - `show_plots`: Show additional plots for debugging during generation of the global trajectory. + - `map_editor`: `True` if the map editor is used. + - `map_editor_mapping`: `True` if the map editor is used live on the car. + - `map_name`: Sets the name of the map. + - `map_dir`: Sets the directory of the map. + - `create_map`: Create a map that can be used in the simulator and save a YAML file and a PNG of the map in the directory `map_dir`. + - `reverse_mapping`: Generate a global trajectory in the reverse direction. + - `required_laps`: Number of laps required before the generation of the global trajectory can be started. + +## Input/Output Topic Signature +This node subscribes to: +- `/map`: Subscribes to the occupancy grid of the map. +- `/car_state/pose`: Reads the car's pose + +The node publishes to: +- `/global_waypoints`: Publishes global waypoints. +- `/global_waypoints/markers`: Publishes global waypoint markers. +- `/global_waypoints/shortest_path`: Publishes waypoints of the shortest path trajectory (only used for visualization of the overtaking sectors). +- `/global_waypoints/shortest_path/markers`: Publishes waypoint markers of the shortest path trajectory (only used for visualization of the overtaking sectors). +- `/centerline_waypoints`: Publishes centerline waypoints. +- `/centerline_waypoints/markers`: Publishes centerline waypoint markers. +- `/trackbounds/markers`: Publishes markers for the track boundaries. +- `/map_infos`: Publishes map infos like estimated lap time and maximum speed. +- `/map_ready`: Publishes a boolean if the map is ready so that the global trajectory can be calculated. +- `/estimated_lap_time`: Publishes the estimated lap time. + +## License +TODO + diff --git a/planner/gb_optimizer/package.xml b/planner/gb_optimizer/package.xml new file mode 100644 index 0000000..f05fe23 --- /dev/null +++ b/planner/gb_optimizer/package.xml @@ -0,0 +1,68 @@ + + + gb_optimizer + 0.0.0 + The gb_optimizer package + + + + + lucaschw + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + nav_msgs + roscpp + rospy + nav_msgs + roscpp + rospy + nav_msgs + roscpp + rospy + rospy_message_converter + + + + + + + diff --git a/planner/gb_optimizer/scripts/finish_map.sh b/planner/gb_optimizer/scripts/finish_map.sh new file mode 100755 index 0000000..3b214c5 --- /dev/null +++ b/planner/gb_optimizer/scripts/finish_map.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +echo "Finish trajectory..." +rosservice call /finish_trajectory 0 + +echo "Save map under the name $1" +rosservice call /write_state "{filename: '$1', include_unfinished_submaps: "true"}" diff --git a/planner/gb_optimizer/src/global_planner_node.py b/planner/gb_optimizer/src/global_planner_node.py new file mode 100755 index 0000000..fd58aaa --- /dev/null +++ b/planner/gb_optimizer/src/global_planner_node.py @@ -0,0 +1,1286 @@ +#!/usr/bin/env python3 + +from rospkg import RosPack +import rospy +import subprocess, os, copy + +import csv +import yaml +import math +import cv2 +import numpy as np +import matplotlib.pyplot as plt +from scipy.signal import savgol_filter +from skimage.morphology import skeletonize +from skimage.segmentation import watershed + +from global_racetrajectory_optimization.trajectory_optimizer import trajectory_optimizer +from global_racetrajectory_optimization import helper_funcs_glob +import trajectory_planning_helpers as tph + +from nav_msgs.msg import OccupancyGrid +from geometry_msgs.msg import Pose, PoseStamped +from f110_msgs.msg import Wpnt, WpntArray +from tf.transformations import euler_from_quaternion +from visualization_msgs.msg import Marker, MarkerArray +from std_msgs.msg import String, Bool, Float32 + +# To write global waypoints +from readwrite_global_waypoints import write_global_waypoints + +class GlobalPlanner: + """ + Global planner node + """ + + def __init__(self): + self.input_path = os.path.join(RosPack().get_path('stack_master'), 'config', 'gb_optimizer') + self.rate = rospy.get_param('/global_planner/rate') + self.test_on_car = rospy.get_param('/global_planner/test_on_car') + self.current_key = '' + + self.safety_width = rospy.get_param('/global_planner/safety_width') + self.safety_width_sp = rospy.get_param('/global_planner/safety_width_sp') + self.occupancy_grid_threshold = rospy.get_param('/global_planner/occupancy_grid_threshold') + + self.show_plots = rospy.get_param('/global_planner/show_plots') # show no plots if False + + self.map_editor = rospy.get_param('/global_planner/map_editor') + self.map_editor_mapping = rospy.get_param('/global_planner/map_editor_mapping', False) + self.create_map = rospy.get_param('/global_planner/create_map') + self.map_name = rospy.get_param('/global_planner/map_name') + self.map_dir = rospy.get_param('/global_planner/map_dir') + self.reverse_mapping = rospy.get_param('/global_planner/reverse_mapping', False) + self.watershed = True # use watershed algorithm + + # map variables + self.map_width = 0 + self.map_height = 0 + self.map_resolution = 0.0 + self.map_origin = Pose() + self.map_occupancy_grid = None + + self.current_position = None + self.initial_position = None + + self.map_ready = False + + # load map maps from yaml file if we do not want to create a map + if not self.create_map: + with open(os.path.join(self.map_dir, self.map_name + '.yaml')) as f: + data = yaml.safe_load(f) + # only need resolution and origin for waypoints + self.map_resolution = data['resolution'] + self.map_origin.position.x = data['origin'][0] + self.map_origin.position.y = data['origin'][1] + + # variables to check how many laps were completed + self.just_once = False + self.was_at_init_pos = True + self.x_max_diff = 0.5 # meter + self.y_max_diff = 0.5 # meter + self.theta_max_diff = math.pi / 2 # rad + self.lap_count = 0 + self.required_laps = rospy.get_param('/global_planner/required_laps') + if not self.test_on_car or self.map_editor: + self.required_laps = 0 + + # for comparing driven lap length with calculated centerline length + self.cent_driven = None + self.cent_length_done = False + + rospy.init_node('global_planner_node', anonymous=True) + + # all required subscribers + rospy.Subscriber('/map', OccupancyGrid, self.map_cb) + rospy.Subscriber('/car_state/pose', PoseStamped, self.pose_cb) + + # publisher for local planner + self.wpnt_global_iqp_pub = rospy.Publisher('global_waypoints', WpntArray, queue_size=10) + self.wpnt_center_pub = rospy.Publisher('centerline_waypoints', WpntArray, queue_size=10) + # publisher only for visualization + self.vis_wpnt_cent_pub = rospy.Publisher('centerline_waypoints/markers', MarkerArray, queue_size=10) + self.vis_wpnt_global_iqp_pub = rospy.Publisher('global_waypoints/markers', MarkerArray, queue_size=10) + self.vis_track_bnds = rospy.Publisher('trackbounds/markers', MarkerArray, queue_size=10) + # shortest path + self.wpnt_global_sp_pub = rospy.Publisher('global_waypoints/shortest_path', WpntArray, queue_size=10) + self.vis_wpnt_global_sp_pub = rospy.Publisher('global_waypoints/shortest_path/markers', MarkerArray, queue_size=10) + # publish map infos + self.map_info_pub = rospy.Publisher('map_infos', String, queue_size=10) + self.map_info_str = '' + # publish bool if map is ready for gb optimizer + self.map_ready_pub = rospy.Publisher('map_ready', Bool, queue_size=10) + # for l1_param_optimizer + self.est_lap_time_pub = rospy.Publisher('estimated_lap_time', Float32, queue_size=10) + + def map_cb(self, data): + """ + Callback function of /map subscriber. + + Parameters + ---------- + data + Data received from /map topic + """ + # Data should not be overwritten if we use map maps from yaml file + if self.create_map: + self.map_width = data.info.width # uint32, [cells] + self.map_height = data.info.height # uint32, [cells] + self.map_resolution = data.info.resolution # float32, [m/cell] + self.map_origin = data.info.origin + self.map_occupancy_grid = data.data # int8[] + + def pose_cb(self, data): + """ + Callback function of /tracked_pose subscriber. + + Parameters + ---------- + data + Data received from /tracked_pose topic + """ + x = data.pose.position.x + y = data.pose.position.y + theta = euler_from_quaternion([data.pose.orientation.x, data.pose.orientation.y, + data.pose.orientation.z, data.pose.orientation.w])[2] + + if self.current_position is None: + self.initial_position = [x, y, theta] + self.current_position = [x, y, theta] + + if self.lap_count == 0: + if self.cent_driven is None: + self.cent_driven = np.array([self.current_position]) + else: + self.cent_driven = np.append(self.cent_driven, [self.current_position], axis=0) + + def global_plan_loop(self): + rate_pos = rospy.Rate(self.rate) + + # If in map_editor mode while not mapping (i.e. no need for .pbstream) we only compute the gb from the img and exit + if self.map_editor and not self.map_editor_mapping: + rospy.wait_for_message('/map', OccupancyGrid) + with open(os.path.join(self.map_dir, self.map_name + '.yaml')) as f: + data = yaml.safe_load(f) + # only need resolution and origin for waypoints + self.map_resolution = data['resolution'] + self.map_origin.position.x = data['origin'][0] + self.map_origin.position.y = data['origin'][1] + self.map_origin.position.z = data['origin'][2] + self.initial_position = [self.map_origin.position.x, self.map_origin.position.y, 0] + # compute global trajectory from img only and return + self.compute_global_trajectory(cent_length=0.0, save_map=False, save_pf_copy=False) + pb_dir = os.path.join(self.map_dir, self.map_name + '.pbstream') + rospack = RosPack() + script_dir = os.path.join(rospack.get_path('gb_optimizer'), 'scripts/finish_map.sh') + subprocess.Popen(args=[script_dir, pb_dir], shell=False) + rospy.loginfo('[GB Planner]: Successfully created map! Killing nodes...') + os.system("rosnode kill global_planner") + return + + # waiting for position + else: + while not rospy.is_shutdown() and (self.current_position is None or self.initial_position is None or (self.map_occupancy_grid is None and self.create_map)): + rate_pos.sleep() + rospy.loginfo('[GB Planner]: Global planner ready!') + rate = rospy.Rate(self.rate) # in Hertz + while not rospy.is_shutdown(): + # If mapping for map_editor mode we only need the img, yaml and the .pbstream + # We don't care about the global trajectory + if self.map_editor_mapping and self.create_map: + # listen to keyboard input + rospy.logwarn("[GB Planner]: Press 'y' when the map looks good enough") + while True: + # waiting for y + self.current_key = input().lower().strip() + if self.current_key == 'y': + self.initial_position = self.current_position # use position after mapping is done + self.just_once = True + # Save map png and yaml in map_dir, but it will break before computing the global trajectory + self.compute_global_trajectory(cent_length=0.0, save_map=True, save_pf_copy=True) + pb_dir = os.path.join(self.map_dir, self.map_name + '.pbstream') + rospack = RosPack() + script_dir = os.path.join(rospack.get_path('gb_optimizer'), 'scripts/finish_map.sh') + subprocess.Popen(args=[script_dir, pb_dir], shell=False) + # Normal mode + else: + is_at_init_pos = self.at_init_pos_check() + # check if car is now at start position and wasn't before --> means we completed a lap + if is_at_init_pos and not self.was_at_init_pos: + self.was_at_init_pos = True + self.lap_count += 1 + rospy.loginfo("[GB Planner]:" + f"Laps completed {self.lap_count}") + + elif not is_at_init_pos: + self.was_at_init_pos = False + + # calculate global trajectory only once after a certain number of completed laps + if not self.just_once and self.lap_count == self.required_laps: + if self.required_laps != 0: + # calculate length of driven path in first lap for an approx length of the centerline + cent_length = np.sum(np.sqrt(np.sum(np.power(np.diff(self.cent_driven[:, :2], axis=0), 2), axis=1))) + + cent_len_str = "[GB Planner]:" + f"Approximate centerline length: {round(cent_length, 4)}m; " + rospy.loginfo(cent_len_str) + self.map_info_str += cent_len_str + else: + cent_length = 0 + + # listen to keyboard input + rospy.logwarn("[GB Planner]: Press 'y' when the map looks good enough") + map_ready_msg = Bool() + map_ready_msg.data = True + self.map_ready_pub.publish(map_ready_msg) + while True: + # waiting for y + self.current_key = input().lower().strip() + if self.current_key == 'y': + self.initial_position = self.current_position # use position after mapping is done + self.just_once = True + if self.compute_global_trajectory(cent_length=cent_length, save_map=True, save_pf_copy=True): + rospy.loginfo('[GB Planner]: Successfully computed waypoints!') + + rospack = RosPack() + pb_dir = os.path.join(self.map_dir, self.map_name + '.pbstream') + script_dir = os.path.join(rospack.get_path('gb_optimizer'), 'scripts/finish_map.sh') + if self.test_on_car: + subprocess.Popen(args=[script_dir, pb_dir], shell=False) + break + else: + rospy.logwarn('[GB Planner]: Was unable to compute waypoints in compute_global_trajectory!') + self.current_key = '' + break + else: + self.current_key = '' + break + rate.sleep() + + def at_init_pos_check(self) -> bool: + """ + Check if the current position is similar to initial position. + + Returns + ------- + at_init_pos : bool + True if current position is similar to initial position + """ + # absolute values of difference between current and initial position + x_diff = math.fabs(self.current_position[0] - self.initial_position[0]) + y_diff = math.fabs(self.current_position[1] - self.initial_position[1]) + + # The smallest distance between the two angles is using this + theta_diff0 = math.fabs(self.current_position[2] - self.initial_position[2]) + theta_diff1 = 2*np.pi-theta_diff0 + theta_diff = min(theta_diff0, theta_diff1) + + at_init_pos = (x_diff < self.x_max_diff) and (y_diff < self.y_max_diff) and (theta_diff < self.theta_max_diff) + return at_init_pos + + def compute_global_trajectory(self, cent_length, save_map:bool, save_pf_copy:bool) -> bool: + """ + Compute the global optimized trajectory of a map. + + Calculate the centerline of the track and compute global optimized trajectory with minimum curvature + optimization. + Publish the markers and waypoints of the global optimized trajectory. + A waypoint has the following form: [s_m, x_m, y_m, d_right, d_left, psi_rad, vx_mps, ax_mps2] + + Parameters + ---------- + cent_length + Approximate length of the centerline + + save_map + Whether or not to save png and yaml files under map_name + + save_pf_copy + Whether or not to save a duplicate copy of the map for PF usage + + Returns + ------- + bool + True if successfully computed the global waypoints + """ + ################################################################################################################ + # Create a filtered black and white image of the map + ################################################################################################################ + if self.create_map: + # get right shape for occupancy grid map + og_map = np.int8(self.map_occupancy_grid).reshape(self.map_height, self.map_width) + # mark unknown (-1) as occupied (100) + og_map = np.where(og_map == -1, 100, og_map) + + # binarised map + bw = np.where(og_map < self.occupancy_grid_threshold, 255, 0) + bw = np.uint8(bw) + + # Filtering with morphological opening + kernel1 = np.ones((9, 9), np.uint8) + opening = cv2.morphologyEx(bw, cv2.MORPH_OPEN, kernel1, iterations=2) + + if self.map_editor: + if self.show_plots: + plt.imshow(opening, cmap='gray', origin='lower') + plt.show() + # create a folder 'map_name' in the data folder and check if it already exists + map_dir_copy = copy.deepcopy(self.map_dir) + count = 0 + while True: + try: + os.mkdir(self.map_dir) + except OSError as error: + msg_string = '[GB Planner]:' + f'The folder {self.map_dir} already exists!' + rospy.logwarn(msg_string) + count += 1 + self.map_dir = map_dir_copy + str(count) + else: + self.map_name = self.map_name + str(count) if count != 0 else self.map_name + msg_string = '[GB Planner]:' + f'Successfully created the folder {self.map_dir}' + rospy.loginfo(msg_string) + break + + # write image as png and a yaml file in the folder + if save_map: + img_path = os.path.join(self.map_dir, self.map_name + '.png') + flip_open = cv2.flip(opening, 0) + cv2.imwrite(img_path, flip_open) + + dict_map = {'image': self.map_name + '.png', + 'resolution': self.map_resolution, + 'origin': [self.map_origin.position.x, self.map_origin.position.y, 0], + 'negate': 0, + 'occupied_thresh': 0.65, + 'free_thresh': 0.196} + + with open(os.path.join(self.map_dir, self.map_name + ".yaml"), 'w') as file: + _ = yaml.dump(dict_map, file, default_flow_style=False) + + # Also write a duplicate copy that won't be overwritten by future map_editor shenanigans + if save_pf_copy: + img_path = os.path.join(self.map_dir, 'pf_map.png') + flip_open = cv2.flip(opening, 0) + cv2.imwrite(img_path, flip_open) + + dict_map = {'image': 'pf_map.png', + 'resolution': self.map_resolution, + 'origin': [self.map_origin.position.x, self.map_origin.position.y, 0], + 'negate': 0, + 'occupied_thresh': 0.65, + 'free_thresh': 0.196} + + with open(os.path.join(self.map_dir, "pf_map.yaml"), 'w') as file: + _ = yaml.dump(dict_map, file, default_flow_style=False) + + + ros_info_string = '[GB Planner]:' + f'PNG and YAML file created and saved in the {self.map_dir} folder' + rospy.loginfo(ros_info_string) + return True + else: + img_path = os.path.join(self.map_dir, self.map_name + '.png') + bw = cv2.flip(cv2.imread(img_path, 0), 0) + + # Filtering with morphological opening + kernel1 = np.ones((9, 9), np.uint8) + opening = cv2.morphologyEx(bw, cv2.MORPH_OPEN, kernel1, iterations=2) + + # get morphological skeleton of the map + skeleton = skeletonize(opening, method='lee') + + # ! For debugging + f, (ax0, ax1) = plt.subplots(2,1) + ax0.imshow(opening, cmap='gray') + ax1.imshow(skeleton, cmap='gray') + plt.show() + + ################################################################################################################ + # Extract centerline from filtered occupancy grid map + ################################################################################################################ + try: + centerline = self.extract_centerline(skeleton=skeleton, cent_length=cent_length) + except IOError: + self.just_once = False + if self.map_editor: + rospy.logwarn('[GB Planner]: No closed contours found! Check the edited image...') + else: + rospy.logwarn('[GB Planner]: No closed contours found! Keep driving...') + return False + except ValueError: + rospy.logwarn("[GB Planner]: Couldn't find a closed contour with similar length as driven path!") + rospy.loginfo('[GB Planner]: Maybe missed a lap completion...') + rospy.loginfo('[GB Planner]: Will try again in one lap, so drive at least one more lap!') + self.just_once = False + self.cent_length_done = False + self.was_at_init_pos = True + self.initial_position = self.current_position + self.lap_count = 0 + self.required_laps = 1 + self.cent_driven = [self.initial_position] + return False + + centerline_smooth = self.smooth_centerline(centerline) + + # convert centerline from cells to meters + centerline_meter = np.zeros(np.shape(centerline_smooth)) + centerline_meter[:, 0] = centerline_smooth[:, 0] * self.map_resolution + self.map_origin.position.x + centerline_meter[:, 1] = centerline_smooth[:, 1] * self.map_resolution + self.map_origin.position.y + + # interpolate centerline to 0.1m stepsize: less computation needed later for distance to track bounds + centerline_meter = np.column_stack((centerline_meter, np.zeros((centerline_meter.shape[0], 2)))) + + centerline_meter_int = helper_funcs_glob.src.interp_track.interp_track(reftrack=centerline_meter, + stepsize_approx=0.1)[:, :2] + + # centerline_int_len = len(centerline_meter_int) + # print("Number of interpolated centerline points: ", centerline_int_len) + + # get distance to initial position for every point on centerline + cent_distance = np.sqrt(np.power(centerline_meter_int[:, 0] - self.initial_position[0], 2) + + np.power(centerline_meter_int[:, 1] - self.initial_position[1], 2)) + + min_dist_ind = np.argmin(cent_distance) + + cent_direction = np.angle([complex(centerline_meter_int[min_dist_ind, 0] - + centerline_meter_int[min_dist_ind - 1, 0], + centerline_meter_int[min_dist_ind, 1] - + centerline_meter_int[min_dist_ind - 1, 1])]) + + if self.show_plots and not self.map_editor: + print("Direction of the centerline: ", cent_direction[0]) + print("Direction of the initial car position: ", self.initial_position[2]) + plt.plot(centerline_meter_int[:, 0], centerline_meter_int[:, 1], 'ko', label='Centerline interpolated') + plt.plot(centerline_meter_int[min_dist_ind - 1, 0], centerline_meter_int[min_dist_ind - 1, 1], 'ro', + label='First point') + plt.plot(centerline_meter_int[min_dist_ind, 0], centerline_meter_int[min_dist_ind, 1], 'bo', + label='Second point') + plt.legend() + plt.show() + + # flip centerline if directions don't match + if not self.compare_direction(cent_direction, self.initial_position[2]): + centerline_smooth = np.flip(centerline_smooth, axis=0) + centerline_meter_int = np.flip(centerline_meter_int, axis=0) + + # Flip again if necessary + if self.reverse_mapping: + centerline_smooth = np.flip(centerline_smooth, axis=0) + centerline_meter_int = np.flip(centerline_meter_int, axis=0) + rospy.loginfo('[GB Planner]: Centerline flipped') + # create reversed centerline + # centerline_smooth_reverse = np.flip(centerline_smooth, axis=0) + # centerline_meter_int_reverse = np.flip(centerline_meter_int, axis=0) + + # extract track bounds + if self.watershed: + try: + bound_r_water, bound_l_water = self.extract_track_bounds(centerline_smooth, opening, save_img=(not self.map_editor)) + # bound_r_water_rev, bound_l_water_rev = self.extract_track_bounds(centerline_smooth_reverse, opening) + dist_transform = None + rospy.loginfo('[GB Planner]: Using watershed for track bound extraction...') + except IOError: + rospy.logwarn('[GB Planner]: More than two track bounds detected with watershed algorithm') + rospy.loginfo('[GB Planner]: Trying with simple distance transform...') + self.watershed = False + bound_r_water = None + bound_l_water = None + # bound_r_water_rev = None + # bound_l_water_rev = None + dist_transform = cv2.distanceTransform(opening, cv2.DIST_L2, 5) + else: + rospy.loginfo('[GB Planner]: Using distance transform for track bound extraction...') + bound_r_water = None + bound_l_water = None + # bound_r_water_rev = None + # bound_l_water_rev = None + dist_transform = cv2.distanceTransform(opening, cv2.DIST_L2, 5) + + ################################################################################################################ + # Compute global trajectory with mincurv_iqp optimization + ################################################################################################################ + cent_with_dist = self.add_dist_to_cent(centerline_smooth=centerline_smooth, + centerline_meter=centerline_meter_int, + dist_transform=dist_transform, + bound_r=bound_r_water, + bound_l=bound_l_water, + reverse=self.reverse_mapping) + + # Write centerline in a csv file and get a marker array of it + centerline_waypoints, centerline_markers = self.write_centerline(cent_with_dist) + + # Add curvature and angle to centerline waypoints + centerline_coords = np.array([ + [coord.x_m, coord.y_m] for coord in centerline_waypoints.wpnts + ]) + + psi_centerline, kappa_centerline = tph.calc_head_curv_num.\ + calc_head_curv_num( + path=centerline_coords, + el_lengths=0.1*np.ones(len(centerline_coords)-1), + is_closed=False + ) + for i, (psi, kappa) in enumerate(zip(psi_centerline, kappa_centerline)): + centerline_waypoints.wpnts[i].s_m = i*0.1 + centerline_waypoints.wpnts[i].psi_rad = psi + np.pi/2 # pi/2 added because trajectory_planning_helpers package assumes north to be zero psi + centerline_waypoints.wpnts[i].kappa_radpm = kappa + + # publish the centerline markers + self.vis_wpnt_cent_pub.publish(centerline_markers) + + rospy.loginfo('[GB Planner]: Start Global Trajectory optimization with iterative minimum curvature...') + global_trajectory_iqp, bound_r_iqp, bound_l_iqp, est_t_iqp = trajectory_optimizer(input_path=self.input_path, + track_name='map_centerline', + curv_opt_type='mincurv_iqp', + safety_width=self.safety_width, + plot=(self.show_plots and not self.map_editor)) + + self.map_info_str += f'IQP estimated lap time: {round(est_t_iqp, 4)}s; ' + self.map_info_str += f'IQP maximum speed: {round(np.amax(global_trajectory_iqp[:, 5]), 4)}m/s; ' + + # do not use bounds of optimizer if the one's from the watershed algorithm are available + if self.watershed: + bound_r_iqp = bound_r_water + bound_l_iqp = bound_l_water + + bounds_markers = self.publish_track_bounds(bound_r_iqp, bound_l_iqp, reverse=False) + + d_right_iqp, d_left_iqp = self.dist_to_bounds(trajectory=global_trajectory_iqp, + bound_r=bound_r_iqp, + bound_l=bound_l_iqp, + centerline=centerline_meter_int, + reverse=self.reverse_mapping) + + global_traj_wpnts_iqp, global_traj_markers_iqp = self.create_wpnts_markers(trajectory=global_trajectory_iqp, + d_right=d_right_iqp, + d_left=d_left_iqp) + + # publish global trajectory markers and waypoints + self.wpnt_center_pub.publish(centerline_waypoints) + self.wpnt_global_iqp_pub.publish(global_traj_wpnts_iqp) + self.vis_wpnt_global_iqp_pub.publish(global_traj_markers_iqp) + rospy.loginfo('[GB Planner]: Done with iterative minimum curvature optimization') + rospy.loginfo('[GB Planner]: Lap Completed now publishing global waypoints') + + ################################################################################################################ + # Compute global trajectory with shortest path optimization + ################################################################################################################ + + rospy.loginfo('[GB Planner]: Start reverse Global Trajectory optimization with shortest path...') + + rospy.loginfo('[GB Planner]: Start Global Trajectory optimization with iterative minimum curvature for overtaking...') + global_trajectory_iqp_ot, *_ = trajectory_optimizer(input_path=self.input_path, + track_name='map_centerline', + curv_opt_type='mincurv_iqp', + safety_width=self.safety_width_sp, + plot=(self.show_plots and not self.map_editor)) + + # use new iqp path as centerline + new_cent_with_dist = self.add_dist_to_cent(centerline_smooth=global_trajectory_iqp_ot[:, 1:3], + centerline_meter=global_trajectory_iqp_ot[:, 1:3], + dist_transform=None, + bound_r=bound_r_water, + bound_l=bound_l_water, + reverse=self.reverse_mapping) + + _, new_centerline_markers = self.write_centerline(new_cent_with_dist, sp_bool=True) + + # to use iqp as new centerline, set trackname='map_centerline_2', otherwise use track_name='map_centerline' + # is a bit faster but cuts corner a bit more + global_trajectory_sp, bound_r_sp, bound_l_sp, est_t_sp = trajectory_optimizer(input_path=self.input_path, + track_name='map_centerline_2', + curv_opt_type='shortest_path', + safety_width=self.safety_width_sp, + plot=(self.show_plots and not self.map_editor)) + + self.est_lap_time = est_t_sp # variable which will be published and used in l1_param_optimizer + self.est_lap_time_pub.publish(self.est_lap_time) + + self.map_info_str += f'SP estimated lap time: {round(est_t_sp, 4)}s; ' + self.map_info_str += f'SP maximum speed: {round(np.amax(global_trajectory_sp[:, 5]), 4)}m/s; ' + + # do not use bounds of optimizer if the one's from the watershed algorithm are available + if self.watershed: + bound_r_sp = bound_r_water + bound_l_sp = bound_l_water + + d_right_sp, d_left_sp = self.dist_to_bounds(trajectory=global_trajectory_sp, + bound_r=bound_r_sp, + bound_l=bound_l_sp, + centerline=centerline_meter_int, + reverse=self.reverse_mapping) + + global_traj_wpnts_sp, global_traj_markers_sp = self.create_wpnts_markers(trajectory=global_trajectory_sp, + d_right=d_right_sp, + d_left=d_left_sp, + second_traj=True) + + # publish global trajectory markers and waypoints + self.vis_wpnt_global_sp_pub.publish(global_traj_markers_sp) + self.wpnt_global_sp_pub.publish(global_traj_wpnts_sp) + self.map_info_pub.publish(self.map_info_str) + rospy.loginfo('[GB Planner]: Done with shortest path optimization') + rospy.loginfo('[GB Planner]: Lap Completed now publishing shortest path global waypoints') + + # Save info into a JSON file + write_global_waypoints( + self.map_name, + self.map_info_str, + self.est_lap_time, + centerline_markers, + centerline_waypoints, + global_traj_markers_iqp, + global_traj_wpnts_iqp, + global_traj_markers_sp, + global_traj_wpnts_sp, + bounds_markers, + map_editor_bool=self.map_editor, + ) + return True + + def extract_centerline(self, skeleton, cent_length: float) -> np.ndarray: + """ + Extract the centerline out of the skeletonized binary image. + + This is done by finding closed contours and comparing these contours to the approximate centerline + length (which is known because of the driven path). + + Parameters + ---------- + skeleton + The skeleton of the binarised and filtered map + cent_length : float + Expected approximate centerline length + + Returns + ------- + centerline : np.ndarray + The centerline in form [[x1,y1],...] and in cells not meters + + Raises + ------ + IOError + If no closed contour is found + ValueError + If all found contours do not have a similar line length as the centerline (can only happen if + {self.test_on_car} is True) + """ + # get contours from skeleton + contours, hierarchy = cv2.findContours(skeleton, cv2.RETR_CCOMP, cv2.CHAIN_APPROX_NONE) + + # save all closed contours + closed_contours = [] + for i, elem in enumerate(contours): + opened = hierarchy[0][i][2] < 0 and hierarchy[0][i][3] < 0 + if not opened: + closed_contours.append(elem) + + # if we have no closed contour, we can't calculate a global trajectory + if len(closed_contours) == 0: + raise IOError("No closed contours") + + # calculate the line length of every contour to get the real centerline + line_lengths = [math.inf] * len(closed_contours) + for i, cont in enumerate(closed_contours): + line_length = 0 + for k, pnt in enumerate(cont): + line_length += np.sqrt((pnt[0][0] - cont[k - 1][0][0]) ** 2 + + (pnt[0][1] - cont[k - 1][0][1]) ** 2) + + line_length *= self.map_resolution # length in meters not cells + # line length should be around the length of the centerline otherwise keep length infinity + if self.test_on_car and math.fabs(cent_length / line_length - 1.0) < 0.15: + line_lengths[i] = line_length + if not self.test_on_car or self.map_editor: + line_lengths[i] = line_length + + # take the shortest line + min_line_length = min(line_lengths) + + if min_line_length == math.inf: + raise ValueError("Only invalid closed contour line lengths") + + min_length_index = line_lengths.index(min_line_length) + # print(line_lengths) + smallest_contour = np.array(closed_contours[min_length_index]).flatten() + + # reshape smallest_contours from the shape [x1,y1,x2,y2,...] to [[x1,y1],[x2,y2],...] + # this will be the centerline + len_reshape = int(len(smallest_contour) / 2) + centerline = smallest_contour.reshape(len_reshape, 2) + + return centerline + + @staticmethod + def smooth_centerline(centerline: np.ndarray) -> np.ndarray: + """ + Smooth the centerline with a Savitzky-Golay filter. + + Notes + ----- + The savgol filter doesn't ensure a smooth transition at the end and beginning of the centerline. That's why + we apply a savgol filter to the centerline with start and end points on the other half of the track. + Afterwards, we take the results of the second smoothed centerline for the beginning and end of the + first centerline to get an overall smooth centerline + + Parameters + ---------- + centerline : np.ndarray + Unsmoothed centerline + + Returns + ------- + centerline_smooth : np.ndarray + Smooth centerline + """ + # centerline_smooth = centerline + # smooth centerline with a Savitzky Golay filter + # filter_length = 20 + centerline_length = len(centerline) + # print("Number of centerline points: ", centerline_length) + + if centerline_length > 2000: + filter_length = int(centerline_length / 200) * 10 + 1 + elif centerline_length > 1000: + filter_length = 81 + elif centerline_length > 500: + filter_length = 41 + else: + filter_length = 21 + centerline_smooth = savgol_filter(centerline, filter_length, 3, axis=0) + + # cen_len is half the length of the centerline + cen_len = int(len(centerline) / 2) + centerline2 = np.append(centerline[cen_len:], centerline[0:cen_len], axis=0) + centerline_smooth2 = savgol_filter(centerline2, filter_length, 3, axis=0) + + # take points from second (smoothed) centerline for first centerline + centerline_smooth[0:filter_length] = centerline_smooth2[cen_len:(cen_len + filter_length)] + centerline_smooth[-filter_length:] = centerline_smooth2[(cen_len - filter_length):cen_len] + + return centerline_smooth + + def extract_track_bounds(self, centerline: np.ndarray, filtered_bw: np.ndarray, save_img=False): + """ + Extract the boundaries of the track. + + Use the watershed algorithm with the centerline as marker to extract the boundaries of the filtered black + and white image of the map. + + Parameters + ---------- + centerline : np.ndarray + The centerline of the track (in cells not meters) + filtered_bw : np.ndarray + Filtered black and white image of the track + save_img : bool + Only saves sim map when specifically asked for because the function is called in reverse too + Returns + ------- + bound_right, bound_left : tuple[np.ndarray, np.ndarray] + Points of the track bounds right and left in meters + + Raises + ------ + IOError + If there were more (or less) than two track bounds found + """ + # create a black and white image of the centerline + cent_img = np.zeros((filtered_bw.shape[0], filtered_bw.shape[1]), dtype=np.uint8) + cv2.drawContours(cent_img, [centerline.astype(int)], 0, 255, 2, cv2.LINE_8) + + # create markers for watershed algorithm + _, cent_markers = cv2.connectedComponents(cent_img) + + # apply watershed algorithm to get only the track (without any lidar beams outside the track) + dist_transform = cv2.distanceTransform(filtered_bw, cv2.DIST_L2, 5) + labels = watershed(-dist_transform, cent_markers, mask=filtered_bw) + + closed_contours = [] + + for label in np.unique(labels): + if label == 0: + continue + + # Create a mask, the mask should be the track + mask = np.zeros(filtered_bw.shape, dtype="uint8") + mask[labels == label] = 255 + + if self.show_plots and not self.map_editor: + plt.imshow(mask, cmap='gray') + plt.show() + + if self.create_map and save_img: + rospy.loginfo('[GB Planner]: Creating map for simulation...') + image_name = self.map_name + ".png" + dict_map = {'image': image_name, + 'resolution': self.map_resolution, + 'origin': [self.map_origin.position.x, self.map_origin.position.y, 0], + 'negate': 0, + 'occupied_thresh': 0.65, + 'free_thresh': 0.196} + # We need to copy the mask because altering it crashes the further excecution for saving it in the right orientation in the later course + mask_copy = copy.deepcopy(mask) + mask_copy = cv2.flip(mask_copy, 0) + cv2.imwrite(os.path.join(self.map_dir, image_name), mask_copy) + try: + with open(os.path.join(self.map_dir, self.map_name + ".yaml"), 'w') as file: + documents = yaml.dump(dict_map, file, default_flow_style=False) + except IOError as exp: + rospy.logwarn('[GB Planner]: Could not create a yaml file for simulator map') + print(exp) + else: + sim_info_str = '[GB Planner]:' + f' Map for simulation done! Stored in {self.map_dir}' + rospy.loginfo(sim_info_str) + save_img = False + + # Find contours + contours, hierarchy = cv2.findContours(mask, cv2.RETR_CCOMP, cv2.CHAIN_APPROX_NONE) + + # save all closed contours + for i, cont in enumerate(contours): + opened = hierarchy[0][i][2] < 0 and hierarchy[0][i][3] < 0 + if not opened: + closed_contours.append(cont) + + # there must not be more (or less) than two closed contour + if len(closed_contours) != 2: + raise IOError("More than two track bounds detected! Check input") + # draw the boundary into the centerline image + cv2.drawContours(cent_img, closed_contours, 0, 255, 4) + cv2.drawContours(cent_img, closed_contours, 1, 255, 4) + + # the longest closed contour is the outer boundary + bound_long = max(closed_contours, key=len) + bound_long = np.array(bound_long).flatten() + + # reshape from the shape [x1,y1,x2,y2,...] to [[x1,y1],[x2,y2],...] + len_reshape = int(len(bound_long) / 2) + bound_long = bound_long.reshape(len_reshape, 2) + # convert to meter + bound_long_meter = np.zeros(np.shape(bound_long)) + bound_long_meter[:, 0] = bound_long[:, 0] * self.map_resolution + self.map_origin.position.x + bound_long_meter[:, 1] = bound_long[:, 1] * self.map_resolution + self.map_origin.position.y + + # inner boundary is the shorter one + bound_short = min(closed_contours, key=len) + bound_short = np.array(bound_short).flatten() + + # reshape from the shape [x1,y1,x2,y2,...] to [[x1,y1],[x2,y2],...] + len_reshape = int(len(bound_short) / 2) + bound_short = bound_short.reshape(len_reshape, 2) + # convert to meter + bound_short_meter = np.zeros(np.shape(bound_short)) + bound_short_meter[:, 0] = bound_short[:, 0] * self.map_resolution + self.map_origin.position.x + bound_short_meter[:, 1] = bound_short[:, 1] * self.map_resolution + self.map_origin.position.y + + # get distance to initial position for every point on the outer bound to figure out if it is the right + # or left boundary + bound_distance = np.sqrt(np.power(bound_long_meter[:, 0] - self.initial_position[0], 2) + + np.power(bound_long_meter[:, 1] - self.initial_position[1], 2)) + + min_dist_ind = np.argmin(bound_distance) + + bound_direction = np.angle([complex(bound_long_meter[min_dist_ind, 0] - bound_long_meter[min_dist_ind - 1, 0], + bound_long_meter[min_dist_ind, 1] - bound_long_meter[min_dist_ind - 1, 1])]) + + norm_angle_right = self.initial_position[2] - math.pi + if norm_angle_right < -math.pi: + norm_angle_right = norm_angle_right + 2 * math.pi + + if self.compare_direction(norm_angle_right, bound_direction): + bound_right = bound_long_meter + bound_left = bound_short_meter + else: + bound_right = bound_short_meter + bound_left = bound_long_meter + + if self.show_plots and not self.map_editor: + plt.imshow(cent_img, cmap='gray') + fig1, ax1 = plt.subplots() + ax1.plot(bound_right[:, 0], bound_right[:, 1], 'b', label='Right bound') + ax1.plot(bound_left[:, 0], bound_left[:, 1], 'g', label='Left bound') + ax1.plot(centerline[:, 0] * self.map_resolution + self.map_origin.position.x, + centerline[:, 1] * self.map_resolution + self.map_origin.position.y, 'r', label='Centerline') + ax1.legend() + plt.show() + + return bound_right, bound_left + + def dist_to_bounds(self, trajectory: np.ndarray, bound_r, bound_l, centerline: np.ndarray, reverse=False): + """ + Calculate the distance to track bounds for every point on a trajectory. + + Parameters + ---------- + trajectory : np.ndarray + A trajectory in form [s_m, x_m, y_m, psi_rad, vx_mps, ax_mps2] or [x_m, y_m] + bound_r + Points in meters of boundary right + bound_l + Points in meters of boundary left + centerline : np.ndarray + Centerline only needed if global trajectory is given and plot of it is wanted + + Returns + ------- + dists_right, dists_left : tuple[np.ndarray, np.ndarray] + Distances to the right and left track boundaries for every waypoint + """ + # check format of trajectory + if len(trajectory[0]) > 2: + help_trajectory = trajectory[:, 1:3] + trajectory_str = "Global Trajectory" + else: + help_trajectory = trajectory + trajectory_str = "Centerline" + + # interpolate track bounds + bound_r_tmp = np.column_stack((bound_r, np.zeros((bound_r.shape[0], 2)))) + bound_l_tmp = np.column_stack((bound_l, np.zeros((bound_l.shape[0], 2)))) + + bound_r_int = helper_funcs_glob.src.interp_track.interp_track(reftrack=bound_r_tmp, + stepsize_approx=0.1) + bound_l_int = helper_funcs_glob.src.interp_track.interp_track(reftrack=bound_l_tmp, + stepsize_approx=0.1) + + # find the closest points of the track bounds to global trajectory waypoints + n_wpnt = len(help_trajectory) + dists_right = np.zeros(n_wpnt) # contains (min) distances between waypoints and right bound + dists_left = np.zeros(n_wpnt) # contains (min) distances between waypoints and left bound + + # print(f"Calculating distance from {trajectory_str} to track bounds...") + for i, wpnt in enumerate(help_trajectory): + dists_bound_right = np.sqrt(np.power(bound_r_int[:, 0] - wpnt[0], 2) + + np.power(bound_r_int[:, 1] - wpnt[1], 2)) + dists_right[i] = np.amin(dists_bound_right) + + dists_bound_left = np.sqrt(np.power(bound_l_int[:, 0] - wpnt[0], 2) + + np.power(bound_l_int[:, 1] - wpnt[1], 2)) + dists_left[i] = np.amin(dists_bound_left) + + # print(f"Done calculating distance from {trajectory_str} to track bounds") + + if self.show_plots and trajectory_str == "Global Trajectory": + width_veh_real = 0.3 + normvec_normalized_opt = tph.calc_normal_vectors.calc_normal_vectors(trajectory[:, 3]) + + veh_bound1_virt = trajectory[:, 1:3] + normvec_normalized_opt * self.safety_width / 2 + veh_bound2_virt = trajectory[:, 1:3] - normvec_normalized_opt * self.safety_width / 2 + + veh_bound1_real = trajectory[:, 1:3] + normvec_normalized_opt * width_veh_real / 2 + veh_bound2_real = trajectory[:, 1:3] - normvec_normalized_opt * width_veh_real / 2 + + # plot track including optimized path + fig, ax = plt.subplots() + + # ax.plot(refline[:, 0], refline[:, 1], "k--", linewidth=0.7, label="Reference line") + ax.plot(bound_r[:, 0], bound_r[:, 1], "k-", linewidth=1.0, label="Track bounds") + ax.plot(bound_l[:, 0], bound_l[:, 1], "k-", linewidth=1.0) + ax.plot(centerline[:, 0], centerline[:, 1], "k--", linewidth=1.0, label='Centerline') + + ax.plot(veh_bound1_virt[:, 0], veh_bound1_virt[:, 1], "b", linewidth=0.5, label="Vehicle width with safety") + ax.plot(veh_bound2_virt[:, 0], veh_bound2_virt[:, 1], "b", linewidth=0.5) + ax.plot(veh_bound1_real[:, 0], veh_bound1_real[:, 1], "c", linewidth=0.5, label="Real vehicle width") + ax.plot(veh_bound2_real[:, 0], veh_bound2_real[:, 1], "c", linewidth=0.5) + + ax.plot(trajectory[:, 1], trajectory[:, 2], 'tab:orange', linewidth=2.0, label="Global trajectory") + + plt.grid() + ax1 = plt.gca() + + point1_arrow = np.array([trajectory[0, 1], trajectory[0, 2]]) + point2_arrow = np.array([trajectory[5, 1], trajectory[5, 2]]) + vec_arrow = (point2_arrow - point1_arrow) + ax1.arrow(point1_arrow[0], point1_arrow[1], vec_arrow[0], vec_arrow[1], width=0.05, + head_width=0.3, head_length=0.3, fc='g', ec='g') + + ax.set_aspect("equal", "datalim") + plt.xlabel("x-distance from origin [m]") + plt.ylabel("y-distance from origin [m]") + plt.title(f"Global trajectory with vehicle width") + plt.legend() + + plt.show() + # Return flipped distances if map_editor reversing + if reverse: + return dists_left, dists_right + else: + return dists_right, dists_left + + def add_dist_to_cent(self, centerline_smooth: np.ndarray, + centerline_meter: np.ndarray, dist_transform=None, + bound_r: np.ndarray = None, bound_l: np.ndarray = None, reverse=False) -> np.ndarray: + """ + Add distance to track bounds to the centerline points. + + Parameters + ---------- + centerline_smooth : np.ndarray + Smooth centerline in cells (not meters) + centerline_meter : np.ndarray + Smooth centerline in meters (not cells) + dist_transform : Any, default=None + Euclidean distance transform of the filtered black and white image + bound_r : np.ndarray, default=None + Points of the right track bound in meters + bound_l : np.ndarray, default=None + Points of the left track bound in meters + + Returns + ------- + centerline_comp : np.ndarray + Complete centerline with distance to right and left track bounds for every point + """ + centerline_comp = np.zeros((len(centerline_meter), 4)) + + if dist_transform is not None: + width_track_right = dist_transform[centerline_smooth[:, 1].astype(int), + centerline_smooth[:, 0].astype(int)] * self.map_resolution + if len(width_track_right) != len(centerline_meter): + width_track_right = np.interp(np.arange(0, len(centerline_meter)), np.arange(0, len(width_track_right)), + width_track_right) + width_track_left = width_track_right + elif bound_r is not None and bound_l is not None: + width_track_right, width_track_left = self.dist_to_bounds(centerline_meter, bound_r, bound_l, + centerline=centerline_meter, + reverse=reverse) + else: + raise IOError("No closed contours found...") + + centerline_comp[:, 0] = centerline_meter[:, 0] + centerline_comp[:, 1] = centerline_meter[:, 1] + centerline_comp[:, 2] = width_track_right + centerline_comp[:, 3] = width_track_left + return centerline_comp + + @staticmethod + def write_centerline(centerline: np.ndarray, sp_bool: bool = False) -> MarkerArray: + """ + Create a csv file with centerline maps. + + The centerline maps includes position and width to the track bounds in meter, so that it can be used in the + global trajectory optimizer. The file has the following format: x_m, y_m, w_tr_right_m, w_tr_left_m . + + Parameters + ---------- + centerline : np.ndarray + The centerline in form [x_m, y_m, w_tr_right_m, w_tr_left_m] + sp_bool : bool, default=False + Used for shortest path optimization when another centerline csv should be created + + Returns + ------- + centerline_markers : MarkerArray + Centerline as a MarkerArray which can be published + """ + centerline_markers = MarkerArray() + centerline_wpnts = WpntArray() + + cent_str = 'map_centerline.csv' if not sp_bool else 'map_centerline_2.csv' + with open(cent_str, 'w', newline='') as file: + writer = csv.writer(file) + id_cnt = 0 # for marker id + + for row in centerline: + x_m = row[0] + y_m = row[1] + width_tr_right_m = row[2] + width_tr_left_m = row[3] + writer.writerow([x_m, y_m, width_tr_right_m, width_tr_left_m]) + + cent_marker = Marker() + cent_marker.header.frame_id = 'map' + cent_marker.type = cent_marker.SPHERE + cent_marker.scale.x = 0.05 + cent_marker.scale.y = 0.05 + cent_marker.scale.z = 0.05 + cent_marker.color.a = 1.0 + cent_marker.color.b = 1.0 + + cent_marker.id = id_cnt + cent_marker.pose.position.x = x_m + cent_marker.pose.position.y = y_m + cent_marker.pose.orientation.w = 1 + centerline_markers.markers.append(cent_marker) + + wpnt = Wpnt() + wpnt.id = id_cnt + # wpnt.s_m + wpnt.x_m = x_m + wpnt.d_right = width_tr_right_m + wpnt.d_left = width_tr_left_m + wpnt.y_m = y_m + # wpnt.psi_rad = None + # wpnt.kappa_radpm = None + # wpnt.vx_mps = None + # wpnt.ax_mps2 = None + centerline_wpnts.wpnts.append(wpnt) + + id_cnt += 1 + + return centerline_wpnts, centerline_markers + + def publish_track_bounds(self, bound_r, bound_l, reverse: bool = False)->MarkerArray: + bounds_markers = MarkerArray() + id_cnt = 0 + if reverse: + bound_l_real = bound_r.copy() + bound_r_real = bound_l.copy() + publisher = self.vis_track_bnds_reverse + else: + bound_l_real = bound_l + bound_r_real = bound_r + publisher = self.vis_track_bnds + + for i, pnt_r in enumerate(bound_r_real): + bnd_r_mrk = Marker() + bnd_r_mrk.header.frame_id = 'map' + bnd_r_mrk.type = bnd_r_mrk.SPHERE + bnd_r_mrk.scale.x = 0.05 + bnd_r_mrk.scale.y = 0.05 + bnd_r_mrk.scale.z = 0.05 + bnd_r_mrk.color.a = 1.0 + bnd_r_mrk.color.b = 0.5 + bnd_r_mrk.color.r = 0.5 + + bnd_r_mrk.id = id_cnt + id_cnt += 1 + bnd_r_mrk.pose.position.x = pnt_r[0] + bnd_r_mrk.pose.position.y = pnt_r[1] + bnd_r_mrk.pose.orientation.w = 1 + bounds_markers.markers.append(bnd_r_mrk) + + for i, pnt_l in enumerate(bound_l_real): + bnd_l_mrk = Marker() + bnd_l_mrk.header.frame_id = 'map' + bnd_l_mrk.type = bnd_l_mrk.SPHERE + bnd_l_mrk.scale.x = 0.05 + bnd_l_mrk.scale.y = 0.05 + bnd_l_mrk.scale.z = 0.05 + bnd_l_mrk.color.a = 1.0 + bnd_l_mrk.color.r = 0.5 + bnd_l_mrk.color.g = 1.0 + + bnd_l_mrk.id = id_cnt + id_cnt += 1 + bnd_l_mrk.pose.position.x = pnt_l[0] + bnd_l_mrk.pose.position.y = pnt_l[1] + bnd_l_mrk.pose.orientation.w = 1 + bounds_markers.markers.append(bnd_l_mrk) + + publisher.publish(bounds_markers) + + return bounds_markers + + def create_wpnts_markers(self, trajectory: np.ndarray, d_right: np.ndarray, d_left: np.ndarray, + second_traj: bool = False): + """ + Create and return a waypoint array and a marker array. + + Parameters + ---------- + trajectory : np.ndarray + A trajectory with waypoints in form [s_m, x_m, y_m, psi_rad, vx_mps, ax_mps2] + d_right : np.ndarray + Distances to the right track bounds for every waypoint in {trajectory} + d_left : np.ndarray + Distances to the left track bounds for every waypoint in {trajectory} + second_traj : bool, default=False + Display second trajectory with a different color than first, better for visualization + + Returns + ------- + global_wpnts, global_markers : tuple[WpntArray, MarkerArray] + A waypoint array and a marker array with all points of {trajectory} + """ + max_vx_mps = max(trajectory[:, 5]) + speed_string = "[GB Planner]: Max speed: " + str(max_vx_mps) + rospy.loginfo(speed_string) + + global_wpnts = WpntArray() + global_markers = MarkerArray() + + for i, pnt in enumerate(trajectory): + global_wpnt = Wpnt() + global_wpnt.id = i + global_wpnt.s_m = pnt[0] + global_wpnt.x_m = pnt[1] + global_wpnt.d_right = d_right[i] + global_wpnt.d_left = d_left[i] + global_wpnt.y_m = pnt[2] + global_wpnt.psi_rad = self.conv_psi(pnt[3]) + global_wpnt.kappa_radpm = pnt[4] + global_wpnt.vx_mps = pnt[5] + global_wpnt.ax_mps2 = pnt[6] + + global_wpnts.wpnts.append(global_wpnt) + + global_marker = Marker() + global_marker.header.frame_id = 'map' + global_marker.type = global_marker.CYLINDER + global_marker.scale.x = 0.1 + global_marker.scale.y = 0.1 + global_marker.scale.z = global_wpnt.vx_mps / max_vx_mps + global_marker.color.a = 1.0 + global_marker.color.r = 1.0 + global_marker.color.g = 1.0 if second_traj else 0.0 + + global_marker.id = i + global_marker.pose.position.x = pnt[1] + global_marker.pose.position.y = pnt[2] + global_marker.pose.position.z = global_wpnt.vx_mps / max_vx_mps / 2 + global_marker.pose.orientation.w = 1 + global_markers.markers.append(global_marker) + + return global_wpnts, global_markers + + @staticmethod + def conv_psi(psi: float) -> float: + """ + Convert psi angles where 0 is at the y-axis into psi angles where 0 is at the x-axis. + + Parameters + ---------- + psi : float + angle (in rad) to convert + + Returns + ------- + new_psi : float + converted angle + """ + new_psi = psi + math.pi / 2 + + if new_psi > math.pi: + new_psi = new_psi - 2 * math.pi + + return new_psi + + @staticmethod + def compare_direction(alpha: float, beta: float) -> bool: + """ + Compare the direction of two points and check if they point in the same direction. + + Parameters + ---------- + alpha : float + direction angle in rad + beta : float + direction angle in rad + + Returns + ------- + bool + True if alpha and beta point in the same direction + """ + delta_theta = math.fabs(alpha - beta) + + if delta_theta > math.pi: + delta_theta = 2 * math.pi - delta_theta + + return delta_theta < math.pi / 2 + + +if __name__ == "__main__": + planner = GlobalPlanner() + planner.global_plan_loop() + + diff --git a/planner/gb_optimizer/src/global_racetrajectory_optimization b/planner/gb_optimizer/src/global_racetrajectory_optimization new file mode 160000 index 0000000..d49ac76 --- /dev/null +++ b/planner/gb_optimizer/src/global_racetrajectory_optimization @@ -0,0 +1 @@ +Subproject commit d49ac768e6bf39b57f9e9dd25d42f5075e1f8105 diff --git a/planner/gb_optimizer/src/global_trajectory_publisher.py b/planner/gb_optimizer/src/global_trajectory_publisher.py new file mode 100755 index 0000000..cbad691 --- /dev/null +++ b/planner/gb_optimizer/src/global_trajectory_publisher.py @@ -0,0 +1,135 @@ +#!/usr/bin/env python3 + +import rospy +from rospy import loginfo +from std_msgs.msg import String, Float32 +from f110_msgs.msg import WpntArray +from visualization_msgs.msg import MarkerArray + +from readwrite_global_waypoints import read_global_waypoints + +class GlobalRepublisher: + """ + Node for publishing the global waypoints/markers and track bounds markers frequently after they have been calculated + """ + def __init__(self): + + rospy.init_node('global_republisher_node', anonymous=True) + + self.glb_markers = None + self.glb_wpnts = None + self.track_bounds = None + + rospy.Subscriber('/global_waypoints', WpntArray, self.glb_wpnts_cb) + rospy.Subscriber('/global_waypoints/markers', MarkerArray, self.glb_markers_cb) + rospy.Subscriber('/trackbounds/markers', MarkerArray, self.bounds_cb) + + self.glb_wpnts_pub = rospy.Publisher('global_waypoints', WpntArray, queue_size=10) + self.glb_markers_pub = rospy.Publisher('global_waypoints/markers', MarkerArray, queue_size=10) + self.vis_track_bnds = rospy.Publisher('trackbounds/markers', MarkerArray, queue_size=10) + + # shortest_path + self.glb_sp_markers = None + self.glb_sp_wpnts = None + rospy.Subscriber('/global_waypoints/shortest_path', WpntArray, self.glb_sp_wpnts_cb) + rospy.Subscriber('/global_waypoints/shortest_path/markers', MarkerArray, self.glb_sp_markers_cb) + self.glb_sp_wpnts_pub = rospy.Publisher('global_waypoints/shortest_path', WpntArray, queue_size=10) + self.glb_sp_markers_pub = rospy.Publisher('global_waypoints/shortest_path/markers', MarkerArray, queue_size=10) + + # centerline + self.centerline_wpnts = None + self.centerline_markers = None + rospy.Subscriber('/centerline_waypoints', WpntArray, self.centerline_wpnt_cb) + rospy.Subscriber('/centerline_waypoints/markers', MarkerArray, self.centerline_markers_cb) + self.centerline_wpnts_pub = rospy.Publisher('/centerline_waypoints', WpntArray, queue_size=10) + self.centerline_markers_pub = rospy.Publisher('/centerline_waypoints/markers', MarkerArray, queue_size=10) + + # map infos + self.map_infos = None + rospy.Subscriber('/map_infos', String, self.map_info_cb) + self.map_info_pub = rospy.Publisher('map_infos', String, queue_size=10) + + self.est_lap_time = None + rospy.Subscriber('estimated_lap_time', Float32, self.est_lap_time_cb) + self.est_lap_time_pub = rospy.Publisher('estimated_lap_time', Float32, queue_size=10) + + + # graph lattice + self.graph_lattice = None + rospy.Subscriber('/lattice_viz', MarkerArray, self.lattice_cb) + self.lattice_pub = rospy.Publisher('/lattice_viz', MarkerArray, queue_size=10) + # Read info from json file if it is provided, so everything is always published + if rospy.has_param('/global_republisher/map_name'): + map_name = rospy.get_param('/global_republisher/map_name') + loginfo(f"Reading parameters from {map_name}") + + try: + self.map_infos, self.est_lap_time, self.centerline_markers, self.centerline_wpnts,\ + self.glb_markers, self.glb_wpnts,\ + self.glb_sp_markers, self.glb_sp_wpnts, \ + self.track_bounds = read_global_waypoints(map_name) + except FileNotFoundError: + rospy.logwarn(f"{map_name} param not found. Not publishing") + else: + loginfo(f"global_trajectory_publisher did not find any map_name param") + + def glb_wpnts_cb(self, data): + self.glb_wpnts = data + track_length = data.wpnts[-1].s_m + rospy.set_param('global_republisher/track_length', track_length) + + def glb_markers_cb(self, data): + self.glb_markers = data + + def glb_sp_wpnts_cb(self, data): + self.glb_sp_wpnts = data + + def glb_sp_markers_cb(self, data): + self.glb_sp_markers = data + + def centerline_wpnt_cb(self, data: WpntArray): + self.centerline_wpnts = data + + def centerline_markers_cb(self, data: MarkerArray): + self.centerline_markers = data + + def bounds_cb(self, data): + self.track_bounds = data + + def map_info_cb(self, data): + self.map_infos = data + + def est_lap_time_cb(self, data): + self.est_lap_time = data + + def lattice_cb(self, data): + self.graph_lattice = data + + def global_republisher(self): + rate = rospy.Rate(0.5) # in Hertz + while not rospy.is_shutdown(): + + if self.glb_wpnts is not None and self.glb_markers is not None: + self.glb_wpnts_pub.publish(self.glb_wpnts) + self.glb_markers_pub.publish(self.glb_markers) + if self.glb_sp_wpnts is not None and self.glb_sp_markers is not None: + self.glb_sp_wpnts_pub.publish(self.glb_sp_wpnts) + self.glb_sp_markers_pub.publish(self.glb_sp_markers) + if self.centerline_wpnts is not None and self.centerline_markers is not None: + self.centerline_wpnts_pub.publish(self.centerline_wpnts) + self.centerline_markers_pub.publish(self.centerline_markers) + if self.track_bounds is not None: + self.vis_track_bnds.publish(self.track_bounds) + if self.map_infos is not None: + self.map_info_pub.publish(self.map_infos) + if self.est_lap_time is not None: + self.est_lap_time_pub.publish(self.est_lap_time) + if self.graph_lattice is not None: + self.lattice_pub.publish(self.graph_lattice) + + rate.sleep() + + +if __name__ == "__main__": + republisher = GlobalRepublisher() + republisher.global_republisher() diff --git a/planner/gb_optimizer/src/readwrite_global_waypoints.py b/planner/gb_optimizer/src/readwrite_global_waypoints.py new file mode 100644 index 0000000..6be7bfb --- /dev/null +++ b/planner/gb_optimizer/src/readwrite_global_waypoints.py @@ -0,0 +1,140 @@ +''' +Shared functions to read and write map information (global waypoints) + +Previously, the global waypoints obtained during the mapping phase were saved in a rosbag. + +Now, this is done using binary files. +''' + +import rospkg +import os +import json +from rospy_message_converter import message_converter + +from visualization_msgs.msg import MarkerArray +from f110_msgs.msg import WpntArray +from std_msgs.msg import String, Float32 +from typing import Tuple, List, Dict + +def write_global_waypoints(map_name:str, + map_info_str:str, + est_lap_time:Float32, + centerline_markers:MarkerArray, + centerline_waypoints:WpntArray, + global_traj_markers_iqp:MarkerArray, + global_traj_wpnts_iqp:WpntArray, + global_traj_markers_sp:MarkerArray, + global_traj_wpnts_sp:WpntArray, + trackbounds_markers:MarkerArray, + map_editor_bool = False + )->None: + ''' + Writes map information to a JSON file with map name specified by `map_name`. + - map_info_str + - from topic /map_infos: python str + - est_lap_time + - from topic /estimated_lap_time: Float32 + - centerline_markers + - from topic /centerline_waypoints/markers: MarkerArray + - centerline_waypoints + - from topic /centerline_waypoints: WpntArray + - global_traj_markers_iqp + - from topic /global_waypoints: MarkerArray + - global_traj_wpnts_iqp + - from topic /global_waypoints/markers: WpntArray + - global_traj_markers_sp + - from topic /global_waypoints/shortest_path: MarkerArray + - global_traj_wpnts_sp + - from topic /global_waypoitns/shortest_path/markers: WpntArray + - trackbounds_markers + - from topic /trackbounds/markers: MarkerArray + ''' + + # Get path of stack_master package to get the map waypoint path + r = rospkg.RosPack() + if not map_editor_bool: + path = os.path.join(r.get_path('stack_master'), 'maps', map_name, 'global_waypoints.json') + else: + path = os.path.join(r.get_path('map_editor'), 'maps', map_name, 'global_waypoints.json') + print(f"[INFO] WRITE_GLOBAL_WAYPOINTS: Writing global waypoints to {path}") + + # Dictionary will be converted into a JSON for serialization + d: Dict[str, Dict] = {} + d['map_info_str'] = {'data': map_info_str} + d['est_lap_time'] = {'data': est_lap_time} + d['centerline_markers'] = message_converter.convert_ros_message_to_dictionary(centerline_markers) + d['centerline_waypoints'] = message_converter.convert_ros_message_to_dictionary(centerline_waypoints) + d['global_traj_markers_iqp'] = message_converter.convert_ros_message_to_dictionary(global_traj_markers_iqp) + d['global_traj_wpnts_iqp'] = message_converter.convert_ros_message_to_dictionary(global_traj_wpnts_iqp) + d['global_traj_markers_sp'] = message_converter.convert_ros_message_to_dictionary(global_traj_markers_sp) + d['global_traj_wpnts_sp'] = message_converter.convert_ros_message_to_dictionary(global_traj_wpnts_sp) + d['trackbounds_markers'] = message_converter.convert_ros_message_to_dictionary(trackbounds_markers) + + # serialize + with open(path, 'w') as f: + json.dump(d, f) + +def read_global_waypoints(map_name:str)->Tuple[ + String, Float32, MarkerArray, WpntArray, MarkerArray, WpntArray, MarkerArray, WpntArray, MarkerArray +]: + ''' + Reads map information from a JSON file with map name specified by `map_name`. + + Outputs Message objects as follows: + - map_info_str + - from topic /map_infos: String + - est_lap_time + - from topic /estimated_lap_time: Float32 + - centerline_markers + - from topic /centerline_waypoints/markers: MarkerArray + - centerline_waypoints + - from topic /centerline_waypoints: WpntArray + - global_traj_markers_iqp + - from topic /global_waypoints: MarkerArray + - global_traj_wpnts_iqp + - from topic /global_waypoints/markers: WpntArray + - global_traj_markers_sp + - from topic /global_waypoints/shortest_path: MarkerArray + - global_traj_wpnts_sp + - from topic /global_waypoitns/shortest_path/markers: WpntArray + - trackbounds_markers + - from topic /trackbounds/markers: MarkerArray + ''' + + # Get path of stack_master package to get the map waypoint path + r = rospkg.RosPack() + path = os.path.join(r.get_path('stack_master'), 'maps', map_name, 'global_waypoints.json') + + print(f"[INFO] READ_GLOBAL_WAYPOINTS: Reading global waypoints from {path}") + # Deserialize JSON and Reconstruct the maps elements + with open(path, 'r') as f: + d: Dict[str, List] = json.load(f) + map_info_str = message_converter.convert_dictionary_to_ros_message('std_msgs/String', d['map_info_str']) + est_lap_time = message_converter.convert_dictionary_to_ros_message('std_msgs/Float32', d['est_lap_time']) + centerline_markers = message_converter.convert_dictionary_to_ros_message( + 'visualization_msgs/MarkerArray', + d['centerline_markers']) + centerline_waypoints = message_converter.convert_dictionary_to_ros_message( + 'f110_msgs/WpntArray', + d['centerline_waypoints']) + global_traj_markers_iqp = message_converter.convert_dictionary_to_ros_message( + 'visualization_msgs/MarkerArray', + d['global_traj_markers_iqp']) + global_traj_wpnts_iqp = message_converter.convert_dictionary_to_ros_message( + 'f110_msgs/WpntArray', + d['global_traj_wpnts_iqp']) + global_traj_markers_sp = message_converter.convert_dictionary_to_ros_message( + 'visualization_msgs/MarkerArray', + d['global_traj_markers_sp']) + global_traj_wpnts_sp = message_converter.convert_dictionary_to_ros_message( + 'f110_msgs/WpntArray', + d['global_traj_wpnts_sp']) + trackbounds_markers = message_converter.convert_dictionary_to_ros_message( + 'visualization_msgs/MarkerArray', + d['trackbounds_markers']) + + + return map_info_str, est_lap_time,\ + centerline_markers, centerline_waypoints, \ + global_traj_markers_iqp, global_traj_wpnts_iqp, \ + global_traj_markers_sp, global_traj_wpnts_sp, trackbounds_markers diff --git a/planner/misc/planner_arch.png b/planner/misc/planner_arch.png new file mode 100644 index 0000000..fda9cae Binary files /dev/null and b/planner/misc/planner_arch.png differ diff --git a/planner/spliner/CMakeLists.txt b/planner/spliner/CMakeLists.txt new file mode 100644 index 0000000..b3cdf1c --- /dev/null +++ b/planner/spliner/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(spliner) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/dyn_spliner_tuner.cfg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES spliner +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/spliner.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/spliner_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_spliner.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/planner/spliner/README.md b/planner/spliner/README.md new file mode 100644 index 0000000..5321c29 --- /dev/null +++ b/planner/spliner/README.md @@ -0,0 +1,36 @@ +# Spliner + +## Description +The Spliner package is a ROS package designed to perform splining around obstacles. It provides a node that subscribes to obstacle and waypoint information, processes this data, and publishes splined waypoints and spline markers. This package is implemented in Python and uses the `rospy` and `dynamic_reconfigure` libraries for ROS interactions and dynamic parameter tuning. The main node `spliner_node.py` is launched with the `headtohead.launch` file from the `stack_master` package. + +## Parameters + - `evasion_dist`: Sets the orthogonal distance of the apex to the obstacle, determining how far the spline will deviate from the obstacle. + - `obs_traj_tresh`: Sets the threshold of the obstacle towards the raceline to be considered for evasion, determining which obstacles will be considered for splining around. + - `spline_bound_mindist`: Sets the minimum distance that splines may be from the track bounds in meters, ensuring that the spline does not get too close to the track boundaries. + - `pre_apex_0`: Sets the first distance in front of the apex in meters, used in the calculation of the spline. + - `pre_apex_1`: Sets the second distance in front of the apex in meters, used in the calculation of the spline. + - `pre_apex_2`: Sets the third distance in front of the apex in meters, used in the calculation of the spline. + - `post_apex_0`: Sets the first distance behind the apex in meters, used in the calculation of the spline. + - `post_apex_1`: Sets the second distance behind the apex in meters, used in the calculation of the spline. + - `post_apex_2`: Sets the third distance behind the apex in meters, used in the calculation of the spline. + - `kd_obs_pred`: Sets the gain for the obstacle prediction, used in the calculation of the obstacle prediction. + - `fixed_pred_time`: Sets the fixed prediction time, used in the calculation of the obstacle prediction. + +The parameters `kd_obs_pred`, `fixed_pred_time` are only used with some obstacle prediction methods, so they might not always affect the behaviour. + +## Input/Output Topic Signature +This node subscribes to: +- `/perception/obstacles`: Subscribes to the obstacle array. +- `/car_state/odom_frenet`: Reads the car's state +- `/global_waypoints`: Subscribes to global waypoints. +- `/global_waypoints_scaled`: Subscribes to the scaled global waypoints to obtain the current target velocities. + +The node publishes to: +- `/planner/avoidance/markers`: Publishes spline markers. +- `/planner/avoidance/otwpnts`: Publishes splined waypoints. +- `/planner/avoidance/considered_OBS`: Publishes markers for the closest obstacle. +- `/planner/avoidance/propagated_obs`: Publishes markers for the propagated obstacle. +- `/planner/avoidance/latency`: Publishes the latency of the spliner node. (only if measuring is enabled) + +## License +TODO \ No newline at end of file diff --git a/planner/spliner/cfg/dyn_spliner_tuner.cfg b/planner/spliner/cfg/dyn_spliner_tuner.cfg new file mode 100644 index 0000000..b7750fd --- /dev/null +++ b/planner/spliner/cfg/dyn_spliner_tuner.cfg @@ -0,0 +1,26 @@ +#!/usr/bin/env python3 +PACKAGE = "spliner" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('spliner') + + +gen = ParameterGenerator() +gen.add("evasion_dist", double_t, 0, "Orthogonal distance of the apex to the obstacle", 0.6, 0.25, 1.25) +gen.add("obs_traj_tresh", double_t, 0, "Threshold of the obstacle towards raceline to be considered for evasion", 1.0, 0.1, 1.5) +gen.add("spline_bound_mindist", double_t, 0, "Splines may never be closer to the track bounds than this param in meters", 0.30, 0.05, 1.0) + +gen.add("pre_apex_dist0", double_t, 0, "First distance infront of the apex in meters", 4, 0.5, 8) +gen.add("pre_apex_dist1", double_t, 0, "Second distance infront of the apex in meters", 3, 0.5, 8) +gen.add("pre_apex_dist2", double_t, 0, "Third distance infront of the apex in meters", 2, 0.5, 8) +gen.add("post_apex_dist0", double_t, 0, "First distance after of the apex in meters", 4.5, 0.5, 12) +gen.add("post_apex_dist1", double_t, 0, "Second distance after of the apex in meters", 5.0, 0.5, 12) +gen.add("post_apex_dist2", double_t, 0, "Third distance after of the apex in meters", 5.5, 0.5, 12) + +gen.add("kd_obs_pred", double_t, 0, "Controls how fast the opponent is assumed to go back to our raceline", 1, 0.1, 10) +gen.add("fixed_pred_time", double_t, 0, "Fixed prediciton time for the opponent", 0.15, 0, 1) + + +exit(gen.generate(PACKAGE, "spliner_dynamic_tuner", "dyn_spliner_tuner")) diff --git a/planner/spliner/package.xml b/planner/spliner/package.xml new file mode 100644 index 0000000..fa14695 --- /dev/null +++ b/planner/spliner/package.xml @@ -0,0 +1,72 @@ + + + spliner + 0.0.0 + The spliner package + + + + + nicolas + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + + diff --git a/planner/spliner/src/dynamic_spline_server.py b/planner/spliner/src/dynamic_spline_server.py new file mode 100755 index 0000000..add2607 --- /dev/null +++ b/planner/spliner/src/dynamic_spline_server.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +import rospy +from dynamic_reconfigure.server import Server +from spliner.cfg import dyn_spliner_tunerConfig + +def callback(config, level): + # Ensuring nice rounding by either 0.05 or 0.5 + config.evasion_dist = round(config.evasion_dist * 20) / 20 + config.obs_traj_tresh = round(config.obs_traj_tresh * 20) / 20 + config.spline_bound_mindist = round(config.spline_bound_mindist * 20) / 20 + + config.pre_apex_dist0 = round(config.pre_apex_dist0 * 2) / 2 + # Ensuring that the pre_apex_dist1 is always greater than pre_apex_dist0 + config.pre_apex_dist1 = round(min(config.pre_apex_dist0 + 0.5, config.pre_apex_dist1)* 2) / 2 + config.pre_apex_dist2 = round(min(config.pre_apex_dist1 + 0.5, config.pre_apex_dist2)* 2) / 2 + config.post_apex_dist0 = round(config.post_apex_dist0 * 2) / 2 + config.post_apex_dist1 = round(max(config.post_apex_dist0 + 0.5, config.post_apex_dist1)* 2) / 2 + config.post_apex_dist2 = round(max(config.post_apex_dist1 + 0.5, config.post_apex_dist2)* 2) / 2 + config.kd_obs_pred = round(config.kd_obs_pred * 20) / 20 + config.fixed_pred_time = round(config.fixed_pred_time * 100) / 100 + return config + +if __name__ == "__main__": + rospy.init_node("dynamic_spline_tuner_node", anonymous=False) + print('[Planner] Dynamic Spline Server Launched...') + srv = Server(dyn_spliner_tunerConfig, callback) + rospy.spin() + diff --git a/planner/spliner/src/spliner_node.py b/planner/spliner/src/spliner_node.py new file mode 100755 index 0000000..ec6ecbf --- /dev/null +++ b/planner/spliner/src/spliner_node.py @@ -0,0 +1,529 @@ +#!/usr/bin/env python3 +import time +from typing import List, Any, Tuple + +import rospy +import numpy as np +from nav_msgs.msg import Odometry +from std_msgs.msg import Float32 +from visualization_msgs.msg import Marker, MarkerArray +from scipy.interpolate import InterpolatedUnivariateSpline as Spline + +from dynamic_reconfigure.msg import Config +from f110_msgs.msg import Obstacle, ObstacleArray, OTWpntArray, Wpnt, WpntArray +from frenet_converter.frenet_converter import FrenetConverter + + +class ObstacleSpliner: + """ + This class implements a ROS node that performs splining around obstacles. + + It subscribes to the following topics: + - `/perception/obstacles`: Subscribes to the obstacle array. + - `/car_state/odom_frenet`: Subscribes to the car state in Frenet coordinates. + - `/global_waypoints`: Subscribes to global waypoints. + - `/global_waypoints_scaled`: Subscribes to the scaled global waypoints. + + The node publishes the following topics: + - `/planner/avoidance/markers`: Publishes spline markers. + - `/planner/avoidance/otwpnts`: Publishes splined waypoints. + - `/planner/avoidance/considered_OBS`: Publishes markers for the closest obstacle. + - `/planner/avoidance/propagated_obs`: Publishes markers for the propagated obstacle. + - `/planner/avoidance/latency`: Publishes the latency of the spliner node. (only if measuring is enabled) + """ + + def __init__(self): + """ + Initialize the node, subscribe to topics, and create publishers and service proxies. + """ + # Initialize the node + self.name = "obs_spliner_node" + rospy.init_node(self.name) + + # initialize the instance variable + self.obs = ObstacleArray() + self.gb_wpnts = WpntArray() + self.gb_vmax = None + self.gb_max_idx = None + self.gb_max_s = None + self.cur_s = 0 + self.cur_d = 0 + self.cur_vs = 0 + self.gb_scaled_wpnts = WpntArray() + self.lookahead = 10 # in meters [m] + self.last_switch_time = rospy.Time.now() + self.last_ot_side = "" + self.from_bag = rospy.get_param("/from_bag", False) + self.measuring = rospy.get_param("/measure", False) + + # Subscribe to the topics + rospy.Subscriber("/perception/obstacles", ObstacleArray, self.obs_cb) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.state_cb) + rospy.Subscriber("/global_waypoints", WpntArray, self.gb_cb) + rospy.Subscriber("/global_waypoints_scaled", WpntArray, self.gb_scaled_cb) + # dyn params sub + self.pre_apex_0 = -4 + self.pre_apex_1 = -3 + self.pre_apex_2 = -1.5 + self.post_apex_0 = 2 + self.post_apex_1 = 3 + self.post_apex_2 = 4 + self.evasion_dist = 0.65 + self.obs_traj_tresh = 0.3 + self.spline_bound_mindist = 0.2 + if not self.from_bag: + rospy.Subscriber("/dynamic_spline_tuner_node/parameter_updates", Config, self.dyn_param_cb) + + self.mrks_pub = rospy.Publisher("/planner/avoidance/markers", MarkerArray, queue_size=10) + self.evasion_pub = rospy.Publisher("/planner/avoidance/otwpnts", OTWpntArray, queue_size=10) + self.closest_obs_pub = rospy.Publisher("/planner/avoidance/considered_OBS", Marker, queue_size=10) + self.pub_propagated = rospy.Publisher("/planner/avoidance/propagated_obs", Marker, queue_size=10) + if self.measuring: + self.latency_pub = rospy.Publisher("/planner/avoidance/latency", Float32, queue_size=10) + + + self.converter = self.initialize_converter() + + # Set the rate at which the loop runs + self.rate = rospy.Rate(20) # Hz + + ############# + # CALLBACKS # + ############# + # Callback for obstacle topic + def obs_cb(self, data: ObstacleArray): + self.obs = data + + def state_cb(self, data: Odometry): + self.cur_s = data.pose.pose.position.x + self.cur_d = data.pose.pose.position.y + self.cur_vs = data.twist.twist.linear.x + + # Callback for global waypoint topic + def gb_cb(self, data: WpntArray): + self.waypoints = np.array([[wpnt.x_m, wpnt.y_m] for wpnt in data.wpnts]) + self.gb_wpnts = data + if self.gb_vmax is None: + self.gb_vmax = np.max(np.array([wpnt.vx_mps for wpnt in data.wpnts])) + self.gb_max_idx = data.wpnts[-1].id + self.gb_max_s = data.wpnts[-1].s_m + + # Callback for scaled global waypoint topic + def gb_scaled_cb(self, data: WpntArray): + self.gb_scaled_wpnts = data + + # Callback triggered by dynamic spline reconf + def dyn_param_cb(self, params: Config): + """ + Notices the change in the parameters and changes spline params + """ + self.pre_apex_0 = -1 * rospy.get_param("dynamic_spline_tuner_node/pre_apex_dist0", -4) + self.pre_apex_1 = -1 * rospy.get_param("dynamic_spline_tuner_node/pre_apex_dist1", -3) + self.pre_apex_2 = -1 * rospy.get_param("dynamic_spline_tuner_node/pre_apex_dist2", -1.5) + 0.1 + self.post_apex_0 = rospy.get_param("dynamic_spline_tuner_node/post_apex_dist0", 2) + self.post_apex_1 = rospy.get_param("dynamic_spline_tuner_node/post_apex_dist1", 3) + self.post_apex_2 = rospy.get_param("dynamic_spline_tuner_node/post_apex_dist2", 4) + + self.evasion_dist = rospy.get_param("dynamic_spline_tuner_node/evasion_dist", 0.65) + self.obs_traj_tresh = rospy.get_param("dynamic_spline_tuner_node/obs_traj_tresh", 0.3) + self.spline_bound_mindist = rospy.get_param("dynamic_spline_tuner_node/spline_bound_mindist", 0.2) + + self.kd_obs_pred = rospy.get_param("dynamic_spline_tuner_node/kd_obs_pred") + self.fixed_pred_time = rospy.get_param("dynamic_spline_tuner_node/fixed_pred_time") + + spline_params = [ + self.pre_apex_0, + self.pre_apex_1, + self.pre_apex_2, + 0, + self.post_apex_0, + self.post_apex_1, + self.post_apex_2, + ] + rospy.loginfo( + f"[{self.name}] Dynamic reconf triggered new spline params: {spline_params} [m],\n" + f" evasion apex distance: {self.evasion_dist} [m],\n" + f" obstacle trajectory treshold: {self.obs_traj_tresh} [m]\n" + f" obstacle prediciton k_d: {self.kd_obs_pred}, obstacle prediciton constant time: {self.fixed_pred_time} [s] " + ) + + ############# + # MAIN LOOP # + ############# + def loop(self): + # Wait for critical Messages and services + rospy.loginfo(f"[{self.name}] Waiting for messages and services...") + rospy.wait_for_message("/global_waypoints", WpntArray) + rospy.wait_for_message("/global_waypoints_scaled", WpntArray) + rospy.wait_for_message("/car_state/odom", Odometry) + rospy.wait_for_message("/dynamic_spline_tuner_node/parameter_updates", Config) + rospy.loginfo(f"[{self.name}] Ready!") + + while not rospy.is_shutdown(): + if self.measuring: + start = time.perf_counter() + # Sample data + obs = self.obs + gb_scaled_wpnts = self.gb_scaled_wpnts.wpnts + wpnts = OTWpntArray() + mrks = MarkerArray() + + + # If obs then do splining around it + if len(obs.obstacles) > 0: + wpnts, mrks = self.do_spline(obstacles=obs, gb_wpnts=gb_scaled_wpnts) + # Else delete spline markers + else: + del_mrk = Marker() + del_mrk.header.stamp = rospy.Time.now() + del_mrk.action = Marker.DELETEALL + mrks.markers.append(del_mrk) + + # Publish wpnts and markers + if self.measuring: + end = time.perf_counter() + self.latency_pub.publish(end - start) + self.evasion_pub.publish(wpnts) + self.mrks_pub.publish(mrks) + self.rate.sleep() + + ######### + # UTILS # + ######### + def initialize_converter(self) -> FrenetConverter: + """ + Initialize the FrenetConverter object""" + rospy.wait_for_message("/global_waypoints", WpntArray) + + # Initialize the FrenetConverter object + converter = FrenetConverter(self.waypoints[:, 0], self.waypoints[:, 1]) + rospy.loginfo(f"[{self.name}] initialized FrenetConverter object") + + return converter + + def _more_space(self, obstacle: Obstacle, gb_wpnts: List[Any], gb_idxs: List[int]) -> Tuple[str, float]: + left_gap = abs(gb_wpnts[gb_idxs[0]].d_left - obstacle.d_left) + right_gap = abs(gb_wpnts[gb_idxs[0]].d_right + obstacle.d_right) + min_space = self.evasion_dist + self.spline_bound_mindist + + if right_gap > min_space and left_gap < min_space: + # Compute apex distance to the right of the opponent + d_apex_right = obstacle.d_right - self.evasion_dist + # If we overtake to the right of the opponent BUT the apex is to the left of the raceline, then we set the apex to 0 + if d_apex_right > 0: + d_apex_right = 0 + return "right", d_apex_right + + elif left_gap > min_space and right_gap < min_space: + # Compute apex distance to the left of the opponent + d_apex_left = obstacle.d_left + self.evasion_dist + # If we overtake to the left of the opponent BUT the apex is to the right of the raceline, then we set the apex to 0 + if d_apex_left < 0: + d_apex_left = 0 + return "left", d_apex_left + else: + candidate_d_apex_left = obstacle.d_left + self.evasion_dist + candidate_d_apex_right = obstacle.d_right - self.evasion_dist + + if abs(candidate_d_apex_left) <= abs(candidate_d_apex_right): + # If we overtake to the left of the opponent BUT the apex is to the right of the raceline, then we set the apex to 0 + if candidate_d_apex_left < 0: + candidate_d_apex_left = 0 + return "left", candidate_d_apex_left + else: + # If we overtake to the right of the opponent BUT the apex is to the left of the raceline, then we set the apex to 0 + if candidate_d_apex_right > 0: + candidate_d_apex_right = 0 + return "right", candidate_d_apex_right + + def do_spline(self, obstacles: ObstacleArray, gb_wpnts: WpntArray) -> Tuple[WpntArray, MarkerArray]: + """ + Creates an evasion trajectory for the closest obstacle by splining between pre- and post-apex points. + + This function takes as input the obstacles to be evaded, and a list of global waypoints that describe a reference raceline. + It only considers obstacles that are within a threshold of the raceline and generates an evasion trajectory for each of these obstacles. + The evasion trajectory consists of a spline between pre- and post-apex points that are spaced apart from the obstacle. + The spatial and velocity components of the spline are calculated using the `Spline` class, and the resulting waypoints and markers are returned. + + Args: + - obstacles (ObstacleArray): An array of obstacle objects to be evaded. + - gb_wpnts (WpntArray): A list of global waypoints that describe a reference raceline. + - state (Odometry): The current state of the car. + + Returns: + - wpnts (WpntArray): An array of waypoints that describe the evasion trajectory to the closest obstacle. + - mrks (MarkerArray): An array of markers that represent the waypoints in a visualization format. + + """ + # Return wpnts and markers + mrks = MarkerArray() + wpnts = OTWpntArray() + + # Get spacing between wpnts for rough approximations + wpnt_dist = gb_wpnts[1].s_m - gb_wpnts[0].s_m + + # Only use obstacles that are within a threshold of the raceline, else we don't care about them + close_obs = self._obs_filtering(obstacles=obstacles) + + # If there are obstacles within the lookahead distance, then we need to generate an evasion trajectory considering the closest one + if len(close_obs) > 0: + # Get the closest obstacle handling wraparound + closest_obs = min( + close_obs, key=lambda obs: (obs.s_center - self.cur_s) % self.gb_max_s + ) + + # Get Apex for evasion that is further away from the trackbounds + if closest_obs.s_end < closest_obs.s_start: + s_apex = (closest_obs.s_end + self.gb_max_s + closest_obs.s_start) / 2 + else: + s_apex = (closest_obs.s_end + closest_obs.s_start) / 2 + # Approximate next 20 indexes of global wpnts with wrapping => 2m and compute which side is the outside of the raceline + gb_idxs = [int(s_apex / wpnt_dist + i) % self.gb_max_idx for i in range(20)] + kappas = np.array([gb_wpnts[gb_idx].kappa_radpm for gb_idx in gb_idxs]) + outside = "left" if np.sum(kappas) < 0 else "right" + # Choose the correct side and compute the distance to the apex based on left of right of the obstacle + more_space, d_apex = self._more_space(closest_obs, gb_wpnts, gb_idxs) + + # Publish the point around which we are splining + mrk = self.xy_to_point(x=gb_wpnts[gb_idxs[0]].x_m, y=gb_wpnts[gb_idxs[0]].y_m, opponent=False) + self.closest_obs_pub.publish(mrk) + + # Choose wpnts from global trajectory for splining with velocity + evasion_points = [] + spline_params = [ + self.pre_apex_0, + self.pre_apex_1, + self.pre_apex_2, + 0, + self.post_apex_0, + self.post_apex_1, + self.post_apex_2, + ] + for i, dst in enumerate(spline_params): + # scale dst linearly between 1 and 1.5 depending on the speed normalised to the max speed + dst = dst * np.clip(1.0 + self.cur_vs / self.gb_vmax, 1, 1.5) + # If we overtake on the outside, we smoothen the spline + if outside == more_space: + si = s_apex + dst * 1.75 #TODO make parameter + else: + si = s_apex + dst + di = d_apex if dst == 0 else 0 + evasion_points.append([si, di]) + # Convert to nump + evasion_points = np.array(evasion_points) + + # Spline spatialy for d with s as base + spline_resolution = 0.1 # TODO read from ros params to make consistent in case it changes + spatial_spline = Spline(x=evasion_points[:, 0], y=evasion_points[:, 1]) + evasion_s = np.arange(evasion_points[0, 0], evasion_points[-1, 0], spline_resolution) + # Clipe the d to the apex distance + if d_apex < 0: + evasion_d = np.clip(spatial_spline(evasion_s), d_apex, 0) + else: + evasion_d = np.clip(spatial_spline(evasion_s), 0, d_apex) + + # Handle Wrapping of s + evasion_s = evasion_s % self.gb_max_s + + # Do frenet conversion via conversion service for spline and create markers and wpnts + danger_flag = False + resp = self.converter.get_cartesian(evasion_s, evasion_d) + + # Check if a side switch is possible + if not self._check_ot_side_possible(more_space): + danger_flag = True + + for i in range(evasion_s.shape[0]): + gb_wpnt_i = int((evasion_s[i] / wpnt_dist) % self.gb_max_idx) + # Check if wpnt is too close to the trackbounds but only if spline is actually off the raceline + if abs(evasion_d[i]) > spline_resolution: + tb_dist = gb_wpnts[gb_wpnt_i].d_left if more_space == "left" else gb_wpnts[gb_wpnt_i].d_right + if abs(evasion_d[i]) > abs(tb_dist) - self.spline_bound_mindist: + rospy.loginfo_throttle_identical( + 2, f"[{self.name}]: Evasion trajectory too close to TRACKBOUNDS, aborting evasion" + ) + danger_flag = True + break + # Get V from gb wpnts and go slower if we are going through the inside + vi = gb_wpnts[gb_wpnt_i].vx_mps if outside == more_space else gb_wpnts[gb_wpnt_i].vx_mps * 0.9 # TODO make speed scaling ros param + wpnts.wpnts.append( + self.xyv_to_wpnts(x=resp[0, i], y=resp[1, i], s=evasion_s[i], d=evasion_d[i], v=vi, wpnts=wpnts) + ) + mrks.markers.append(self.xyv_to_markers(x=resp[0, i], y=resp[1, i], v=vi, mrks=mrks)) + + # Fill the rest of OTWpnts + wpnts.header.stamp = rospy.Time.now() + wpnts.header.frame_id = "map" + if not danger_flag: + wpnts.ot_side = more_space + wpnts.ot_line = outside + wpnts.side_switch = True if self.last_ot_side != more_space else False + wpnts.last_switch_time = self.last_switch_time + + # Update the last switch time and the last side + if self.last_ot_side != more_space: + self.last_switch_time = rospy.Time.now() + self.last_ot_side = more_space + else: + wpnts.wpnts = [] + mrks.markers = [] + # This fools the statemachine to cool down + wpnts.side_switch = True + self.last_switch_time = rospy.Time.now() + return wpnts, mrks + + def _obs_filtering(self, obstacles: ObstacleArray) -> List[Obstacle]: + # Only use obstacles that are within a threshold of the raceline, else we don't care about them + obs_on_traj = [obs for obs in obstacles.obstacles if abs(obs.d_center) < self.obs_traj_tresh] + + # Only use obstacles that within self.lookahead in front of the car + close_obs = [] + for obs in obs_on_traj: + obs = self._predict_obs_movement(obs) + # Handle wraparound + dist_in_front = (obs.s_center - self.cur_s) % self.gb_max_s + # dist_in_back = abs(dist_in_front % (-self.gb_max_s)) # distance from ego to obstacle in the back + if dist_in_front < self.lookahead: + close_obs.append(obs) + # Not within lookahead + else: + pass + return close_obs + + def _predict_obs_movement(self, obs: Obstacle, mode: str = "constant") -> Obstacle: + """ + Predicts the movement of an obstacle based on the current state and mode. + + TODO: opponent prediction should be completely isolated for added modularity + + Args: + obs (Obstacle): The obstacle to predict the movement for. + mode (str, optional): The mode for predicting the movement. Defaults to "constant". + + Returns: + Obstacle: The updated obstacle with the predicted movement. + """ + # propagate opponent by time dependent on distance + if (obs.s_center - self.cur_s) % self.gb_max_s < 10: # TODO make param + if mode == "adaptive": + # distance in s coordinate + cur_s = self.cur_s + ot_distance = (obs.s_center - cur_s) % self.gb_max_s + rel_speed = np.clip(self.gb_scaled_wpnts.wpnts[int(cur_s * 10)].vx_mps - obs.vs, 0.1, 10) + ot_time_distance = np.clip(ot_distance / rel_speed, 0, 5) * 0.5 + + delta_s = ot_time_distance * obs.vs + delta_d = ot_time_distance * obs.vd + delta_d = -(obs.d_center + delta_d) * np.exp(-np.abs(self.kd_obs_pred * obs.d_center)) + + elif mode == "adaptive_velheuristic": + opponent_scaler = 0.7 + cur_s = self.cur_s + ego_speed = self.gb_scaled_wpnts.wpnts[int(cur_s * 10)].vx_mps + + # distance in s coordinate + ot_distance = (obs.s_center - cur_s) % self.gb_max_s + rel_speed = (1 - opponent_scaler) * ego_speed + ot_time_distance = np.clip(ot_distance / rel_speed, 0, 5) + + delta_s = ot_time_distance * opponent_scaler * ego_speed + delta_d = -(obs.d_center) * np.exp(-np.abs(self.kd_obs_pred * obs.d_center)) + + # propagate opponent by constant time + elif mode == "constant": + delta_s = self.fixed_pred_time * obs.vs + delta_d = self.fixed_pred_time * obs.vd + # delta_d = -(obs.d_center+delta_d)*np.exp(-np.abs(self.kd_obs_pred*obs.d_center)) + + elif mode == "heuristic": + # distance in s coordinate + ot_distance = (obs.s_center - self.cur_s) % self.gb_max_s + rel_speed = 3 + ot_time_distance = ot_distance / rel_speed + + delta_d = ot_time_distance * obs.vd + delta_d = -(obs.d_center + delta_d) * np.exp(-np.abs(self.kd_obs_pred * obs.d_center)) + + # update + obs.s_start += delta_s + obs.s_center += delta_s + obs.s_end += delta_s + obs.s_start %= self.gb_max_s + obs.s_center %= self.gb_max_s + obs.s_end %= self.gb_max_s + + obs.d_left += delta_d + obs.d_center += delta_d + obs.d_right += delta_d + + resp = self.converter.get_cartesian([obs.s_center], [obs.d_center]) + + marker = self.xy_to_point(resp[0], resp[1], opponent=True) + self.pub_propagated.publish(marker) + + return obs + + def _check_ot_side_possible(self, more_space) -> bool: + if abs(self.cur_d) > 0.25 and more_space != self.last_ot_side: # TODO make rosparam for cur_d threshold + rospy.loginfo(f"[{self.name}]: Can't switch sides, because we are not on the raceline") + return False + return True + + ###################### + # VIZ + MSG WRAPPING # + ###################### + def xyv_to_markers(self, x:float, y:float, v:float, mrks: MarkerArray) -> Marker: + mrk = Marker() + mrk.header.frame_id = "map" + mrk.header.stamp = rospy.Time.now() + mrk.type = mrk.CYLINDER + mrk.scale.x = 0.1 + mrk.scale.y = 0.1 + mrk.scale.z = v / self.gb_vmax + mrk.color.a = 1.0 + mrk.color.b = 0.75 + mrk.color.r = 0.75 + if self.from_bag: + mrk.color.g = 0.75 + + mrk.id = len(mrks.markers) + mrk.pose.position.x = x + mrk.pose.position.y = y + mrk.pose.position.z = v / self.gb_vmax / 2 + mrk.pose.orientation.w = 1 + + return mrk + + def xy_to_point(self, x: float, y: float, opponent=True) -> Marker: + mrk = Marker() + mrk.header.frame_id = "map" + mrk.header.stamp = rospy.Time.now() + mrk.type = mrk.SPHERE + mrk.scale.x = 0.5 + mrk.scale.y = 0.5 + mrk.scale.z = 0.5 + mrk.color.a = 0.8 + mrk.color.b = 0.65 + mrk.color.r = 1 if opponent else 0 + mrk.color.g = 0.65 + + mrk.pose.position.x = x + mrk.pose.position.y = y + mrk.pose.position.z = 0.01 + mrk.pose.orientation.w = 1 + + return mrk + + def xyv_to_wpnts(self, s: float, d: float, x: float, y: float, v: float, wpnts: OTWpntArray) -> Wpnt: + wpnt = Wpnt() + wpnt.id = len(wpnts.wpnts) + wpnt.x_m = x + wpnt.y_m = y + wpnt.s_m = s + wpnt.d_m = d + wpnt.vx_mps = v + return wpnt + +if __name__ == "__main__": + spliner = ObstacleSpliner() + spliner.loop() diff --git a/sensors/vesc b/sensors/vesc new file mode 160000 index 0000000..a3e833c --- /dev/null +++ b/sensors/vesc @@ -0,0 +1 @@ +Subproject commit a3e833cb2ce08597dce681a78caad382453b4888 diff --git a/stack_master/CMakeLists.txt b/stack_master/CMakeLists.txt new file mode 100644 index 0000000..33e89f8 --- /dev/null +++ b/stack_master/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(stack_master) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES stack_master +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/stack_master.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/stack_master_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_stack_master.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + add_rostest(test/time_trials.test) + add_rostest(test/head_to_head_splini.test) +endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/stack_master/README.md b/stack_master/README.md new file mode 100644 index 0000000..e8351b9 --- /dev/null +++ b/stack_master/README.md @@ -0,0 +1,82 @@ +# Stack Master +Here is the `stack_master`, it is intended to be the main interface between the user and the PBL F110 system. + +## Basic Usage +Here only quick procedures are detailed, for more details check the [checklists index](./checklists/README.md). +If you are looking for the utilities and how to use them, refer to the [`f110_utils` folder](../f110_utils/README.md). + +### Mapping (on the real car) +It is suggested to first launch a roscore in a separate terminal. This will be useful to keep any RViz sessions working even across restarts of the base system. +```shell +roscore +``` + +Then launch the mapping procedure with the following launch file: +```shell +roslaunch stack_master mapping.launch map_name:= racecar_version:= +``` + + - `` can be any name with no white space. Conventionally we use the location name (eg, 'hangar', 'ETZ', 'icra') followed by the day of the month followed by an incremental version number. For instance, `hangar_12_v0`. + - `` depends on which car you are using. NUC2, JET1, etc. + +After completing a lap, press the requested button and the raceline will be generated. Then two GUI will be shown, and within them a slider can be used to select the sectors. +Be careful as once a sector is chosen it cannot be further subdivided. + +After both the standard sectors and the overtaking sectors are chosen, the mapping procedure will re-build the `sector_tuner` and the `overtaking_sector_tuner` package, and then after this is completed the procedure can be ended with Ctrl+C. + +You will then need to re-source the ROS environment, which can be done as: +```shell +source /opt/ros/noetic/setup.bash && source ~/catkin_ws/devel/setup.bash +``` + +If you don't have `sauce` already set as an alias in your `bashrc`. + +### Base System + +The base system launches the common components that are required for the car between time-trials and Head-to-Head mode. It can be launched as follows: + +```shell +roslaunch stack_master base_system.launch map_name:= racecar_version:=NUCX +``` + +For more information consult the launchfile [here](./launch/base_system.launch). + +> Note: There is duplicated code in `headtohead` and `time_trials` launchfiles. For example: +> +> the `controller_manager` node +> +> dynamic reconfigure for controller manager +> +> CPU measurement +> +> State machine + +This could be moved to the base-system launchfile (unless I'm missing something?) + +### Time trials +```shell +roslaunch stack_master time_trials.launch LU_table:=NUCX_hangar_pacejka +``` + +In a Time-Trials part of competition, or if you know you don't need to deal with dynamic obstacles, launch this. + +### Head to Head +```shell +roslaunch stack_master headtohead.launch LU_table:=NUCX_hangar_pacejka overtake_mode:= +``` + +When there are dynamic obstacles, run this. + +## How to connect the pit +- On your pit laptop: + ```shell + cd /f110_utils/scripts/pit_starter + source pit_starter.sh rviz + ``` +- Enjoy freshly sourced NUCX and runs the rviz with the correct config. + +Pro tips: +- If you only want to source the NUCX then dont use the `rviz` argument +- It helps to alias these functions with convenient names +--- +[Go back to the main README](../README.md) \ No newline at end of file diff --git a/stack_master/checklists/HeadToHead.md b/stack_master/checklists/HeadToHead.md new file mode 100644 index 0000000..4be9b75 --- /dev/null +++ b/stack_master/checklists/HeadToHead.md @@ -0,0 +1,54 @@ +# Checklist for head-to-head phase +# F1TENTH autonomous grand prix (ICRA'23 London) - ForzaETH + +## Roles +- [Control_MissionControl] +- [Localization_MissionControl] +- [MissionControl] +- [Pilot] +- [Orbiters] (as many as possible) + +## Procedure +### Precheck [MissionControl]: +0. Use a fully charged battery and turn on the car +1. Check all walkie-talkie batteries +2. Check if you are in the correct branch (`master`) on the car. +3. `catkin build` and `sauce` +4. No wires in the way, battery is firmly positioned with tape +5. Wheel nuts tightened and pin checked +6. Walkie-Talkie connection is established between mission control [Localization_MissionControl] and [Pilot]. +7. Make sure [Pilot] knows the normal and overtaking sectors of the track, as well as the raceline +8. [Orbiters] are equidistant along the track +9. [Orbiter] get ready to countdown laps into walkie-talkie + +### Strategy +- If we don't expect to overtake, put trailing distance higher (eg 2.0) +- If opponent is very slow (30% laptime slower) also higher trailing distance +- Otherwise keep 1.5m trailing distance +- Set `ratio_to_glob_path` in `dynamic_tracker_server` to expected opponent speed + +### Head To Head +0. Launch `roscore` and `base_system` on the car +1. Locally, launch `pit_rvizX` and `pitX rqt`. +2. [MissionControl] Check all `rqt` dynamic reconfigure parameters are good. +3. Launch head-to-head: + ```bash + roslaunch stack_master headtohead.launch racecar_version:= LU_table:= overtake_mode:=spliner od_mode:=sami + ``` +4. Check that the `Perception Detect` and `Perception Tracking` printed out `Ready` in the terminal +5. **Check that `Perception Detect noMemorymode` is set!** +6. [MisisonControl] Check if localization is good. If needed, correct the position either telling the [Pilot] to localize or with the pose estimation button in RViz. +7. When all MissionControl parameters are OK, [Localization_MissionControl] gives a thumbs-up. When [Pilot] sees this, start autonomous driving. +8. Ready check: "pit ready" --> "orbiter ready" --> "driver ready" + +## Procedure in case of a Crash + +0. The two closest [Orbiters] run to the crash site. +1. One student raises the barriers while the [Driver] drives the car back onto the track. +2. [Driver] drives manually around the track while the barriers are repaired. +3. When localization is ready, [Localization_MissionControl] informs the [Driver]. +4. The driver must return to the position of the crash. +5. When the driver receives the signal from the referees, resume autonomous driving. +6. Check-Uncheck the `force_GBTRACK` option in `dynamic_statemachine_server` to ensure we restart the race in `GB_FREE` mode +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/Mapping.md b/stack_master/checklists/Mapping.md new file mode 100644 index 0000000..e3fd4f7 --- /dev/null +++ b/stack_master/checklists/Mapping.md @@ -0,0 +1,79 @@ + +# Checklist for mapping phase (with map editor) +# F1TENTH autonomous grand prix (ICRA'23 London) - ForzaETH + +## Procedure + +## Precheck: +- Check the correct branch is used (`master`) +- Fully charged Battery plugged in +- Controller sufficiently charged and laying next to launch pc +- No wires in the way, battery is firmly positioned +- Car placed at a good position to start mapping (e.g. in the center of the track) +- Chosen NUC and controller are turned on +- Check that everybody is at their correct position: + [Mapping_MissionControl]: at the launch pc + [Control_MissionControl]: at the launch pc +- Launch pc connected to a secondary display (e.g. monitor) +- In the config file `stack_master/config/global_planner_params.yaml`, check: + The `safety_width` and `safety_width_sp` (should be at least `0.7`) + + +## Setup: +1. Open a terminal and ssh into the car. `catkin build` and `sauce` +2. Open a terminal on your local pc. Open rviz and move it on the secondary display + ``` + pit_rvizX + ``` + +## Map with Mapping [Mapping_MissionControl] +If you have a clear racetrack, you can map with mapping +1. Launch mapping with: + ``` + roslaunch stack_master mapping.launch racecar_version:=NUCX map_name:=PLACE_DAYMONTH_VN + ``` + - Replace `PLACE` with the place where the track is, e.g. `icra` or `hangar` + - Replace `DAYMONTH` with the zero-padded current day, e.g. `2805` if it is the 28th of may + - Replace `VN` with the version of the map, e.g. `v0` if it is the first version of the map on that day +2. Drive at least one lap, using the automatic driving button (R1). +3. After one completed lap you will be asked if the map is good enough. + - Press `y` if the map looks good (clear trackbounds, no shifts) + - Check if the waypoints were computed and the markers of the trackbounds look fine. Otherwise, kill everything and start over + from 1. + +**Note: if the car does not prompt you to press `y` maybe the loop closure failed. Drive another lap manually** + +4. If it does not work, use Map Editor + + +## Map with Map_Editor [Mapping_MissionControl] +If you have problems with getting a correct map (gaps in the racetrack or other cars on the map) or want to adjust the raceline, you can use [Map Editor](/f110_utils/nodes/map_editor/README.md). Prefer using Map Editor on our local machine, especially if the WLAN connection is bad. + + +## Create global trajectory [Control_MissionControl] +Depending on whether you chose to use map editor locally or on the car, create the global trajectory according to the [Readme](/f110_utils/nodes/map_editor/README.md). + +You might want to make edits to the map to create specific racelines. However, remember that the `pf_map` should reflect the actual track, while the raceline-specific map can be edited as you wish. + +1. Slice the map into sectors with the GUI. +2. Determine the overtaking sectors with the other GUI. +3. **Source all terminals freshly!** + +## Copying maps / Renaming maps [Control_MissionControl] +1. Rename the enclosing map folder from OLDNAME to NEWNAME. +2. Inside the folder, rename: `OLDNAME.pbstream` to `NEWNAME.pbstream` +3. Inside the folder, rename: `OLDNAME.png` to `NEWNAME.png` +4. Inside the folder, rename: `OLDNAME.yaml` to `NEWNAME.yaml` +5. Open up the `NEWNAME.yaml` and inside replace the reference to `OLDNAME.png` to `NEWNAME.png` + + +## Verification (on car) +Verify that the map was created correctly by starting the base system with the new map and check if it runs without errors +``` +roslaunch stack_master base_system.launch racecar_version:= map_name:= +``` + +Congrats, you are done with mapping + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/OpponentTracker.md b/stack_master/checklists/OpponentTracker.md new file mode 100644 index 0000000..89c4140 --- /dev/null +++ b/stack_master/checklists/OpponentTracker.md @@ -0,0 +1,89 @@ +# Obstacle Detection and Opponent Tracker +# F1TENTH autonomous grand prix (ICRA'23 London) - ForzaETH + +## Launching in ICRA STACK +Launch headtohead with spliner: +``` +roslaunch stack_master headtohead.launch LU_table:=NUCX_hangar_pacejka overtake_mode:=spliner od_mode:=sami +``` + +After successful launch, you should see the following messages in the command line: +- `[Tracking] Dynamic Tracker Server Launched...` +- `[Perception Detect]: Ready` +- `[Perception Classifier]: Ready` + +## Dnyamic Reconfigurable Parameter Overview +Launch `rqt` and go into `dynamic_tracker_server` +### Tracking +- `ttl_dynamic`: the time to live of the dynamic prediction of the opponent. +- `ratio_to_glob_path`: the ratio between the target velocity and the global velocity. Defines to which target speed the dynamic prediction will convert. If set to 1, target velocity is equal the raceline speed +- `ttl_static`: time to live of the static and not-classified objects. Be aware that the ttl of static obstacle only gets decreased if they are/should be visible +- `min_nb_meas`: minimum number of measurements of a obstacle before it gets classified as static or dynamic +- `dist_deletion`: distance under which an obstacle can be deleted (if it is visible) +- `dist_infront`: distance under which obstacles infront of the car get published +- `min_std`: standard deviation of the position under which obstacles get classified as static. Needs to be increased when using pf2 +- `max_std`: standard deviation of the position over which obstacles get classified as dynamic. Needs to be increased when using pf2 +- `vs_reset`: average velocity in s direction under which a dynamic obstacle gets reset to a static obstacle +- `aggro_multi`: a multiplier for the association distance for dynamic obstacles +- `debug_mode`: will enable some prints to the console for debugging +- `publish_static`: enable/disable publishing of static obstacles. May help when many FP are present +- `noMemoryMode`: will disable the memory mode of the tracker. Can help with thight curves and trailing + +### Detect +- `min_obs_size`: minimum size of the point could in laser points. Can be used to filter out FP +- `max_obs_size`: maximum size of an object in meters. Can be used to filter out FP +- `max_viewing_distance`: the maximum distance the detection can see. Maximum allowed for the race is 10m +- `boundaries_inflation`: artificially increases the boundaries for detection. Can help to filter out FP along the boundaries. + +## Troubleshooting +### Detection/Tracking not working +Did you build and sauce? +### Trailing gets stuck in corners due to FP +- Enable `noMemoryMode` +- Increase `boundaries_inflation` + +### FP near the boundaries +- Increase `boundaries_inflation` +- Consider inflating the boundaries with [map editor](/f110_utils/nodes/map_editor/README.md) + +### Dynamic Obstalce is too fast/slow +- change `ratio_to_glob_path`, 1 is raceline speed + +### Opponent/Obstacles are sometimes not visible +- decrease `min_obs_size` +- increase `max_viewing_distance` + +### Very big obstacles (FP) +- decrease `max_obs_size` + +### Missclasification +- increase `min_nb_meas` +- increase `min_std` and `max_std` +- incrase/decrease `vs_reset` + +### Obstacle is not deletet but clearly inside of visible range +- enable `debug_mode` and fix it _OR_ disable `publish_static` + +## Parameter in yaml +This variables should not need to be touched during the race. Listed for completeness. +### Tracking +- `rate`: set to 40Hz +- `P_vs`: proportional gain for the s-velocity +- `P_d`: proportional gain for bringing back the d-position to the center +- `P_vd`: proportional gain for the d-velocity +- `measurment_var_s`: the variance of the measurment noise in the s direction +- `measurment_var_d`: the variance of the measurment noise in the d direction +- `measurment_var_vs`: the variance of the measurment noise in the s-velocity +- `measurment_var_vd`: the variance of the measurment noise in the d-velocity +- `process_var_vs`: the variance of the process velocity noise in the s direction +- `process_var_vd`: the variance of the process velocity noise in the d direction +- `max_dist`: maximal distance for association of the obstacles +- `var_pub`: obstacles with a bigger variance are not published +### Detect +- `rate`: set to 40Hz +- `lambda`: minimum reliable detection range in degrees +- `sigma`: standard deviation of the noise of the lidar ranges in meter +- `min_2_points_dist`: minimum distance between two points + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/PitUsage.md b/stack_master/checklists/PitUsage.md new file mode 100644 index 0000000..501482e --- /dev/null +++ b/stack_master/checklists/PitUsage.md @@ -0,0 +1,54 @@ +## Pit Usage Guide + +**Note**: Throughout this README, NUCX refers to a generic identificative name for a physical car. + +Once you are connected to the Zerotier SDWAN as in [here](./networking.md) (or once you have fixed IPs assigned to the cars) you are able to SSH into the car. But you will want to interact/visualize/debug the car from your laptop aka _the pit_. + +Therefore you will need the `pit_starter.sh` from [the utils directory](../../f110_utils/scripts/pit_starter/pit_starter.sh). To use it: +- `cd /f110_utils/scripts/pit_starter` +- `source pit_starter.sh rviz` +- Enjoy freshly sourced NUCX and runs the rviz with the correct config. +- Pro tip: If you only want to source the NUCX then dont use the `rviz` argument + +For convenience, it's nice to set up some aliases in your bashrc (Bash shell config file) to speed-up different things. Your bashrc is found in `~/.bashrc`. An example is below. + +**NOTE**: the path of your race_stack is assumed to be in `~/catkin_ws/src`, but it might not be the case for you. So change if needed. + +--- + +First, get your Zerotier IP handy, if applicable. You can do so by running `ifconfig` in the terminal and see the `inet` address for the network adapter that starts with `zt`. + +```bash +#Source setup bashes +source /opt/ros/noetic/setup.bash +source ~/catkin_ws/devel/setup.bash + +# aliases for different ROS distros. +alias sros1="source /opt/ros/noetic/setup.bash" +alias sf1="sros1; source ~/catkin_ws/devel/setup.bash" # for convenience, no need to source ROS1 first. +alias sauce="sf1" + +# aliases to get into cars faster +alias sshnuc2="ssh -XC " + +# TODO : Check your Zerotier IP first! if it starts with 192.168.192 then you can use the following line, otherwise you need to change it. +export ZEROTIER_IP=$( ifconfig | awk '/inet 192.168.192/ {print $2}' ) + +# Helpers for Pit Starter Source (if you just want to set the environment variables in your system) +alias pit1='source ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/pit_starter.sh "$ZEROTIER_IP" NUC2' + +# If you want to source and open RViz too +alias pit_rviz2='source ~/catkin_ws/src/race_stack/f110_utils/scripts/pit_starter/pit_starter.sh "$ZEROTIER_IP" NUC2 rviz' + + +# for ease of access to the scripts +alias scripz='cd ~/catkin_ws/src/race_stack/stack_master/scripts' + +# If you want to check which nucs are online +alias nucs='bash ~/catkin_ws/src/race_stack/f110_utils/scripts/nucs.sh' +``` + +Note that the [Pit Starter Script](../../f110_utils/scripts/pit_starter/pit_starter.sh) also supports the opening of RViz and rqt at the same time. This functionality is not included in this alias for brevity. + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/README.md b/stack_master/checklists/README.md new file mode 100644 index 0000000..01ace37 --- /dev/null +++ b/stack_master/checklists/README.md @@ -0,0 +1,17 @@ +Here there are the checklists for the most important features of the race_stack: + +## Core Features +- [System Identification](./SysID.md) +- [Mapping](./Mapping.md) +- [Time-trials](./TimeTrials.md) +- [Head-to-Head](./HeadToHead.md) + +## Extra Features +- [Spliner Tuning](./SplinerTuning.md) +- [Opponent Tracker Tuning](./OpponentTracker.md) +- [Networking Guide](./networking.md) +- [Pit setup](./PitUsage.md) + +--- +[Go Back to the race_stack README](../README.md) + diff --git a/stack_master/checklists/SplinerTuning.md b/stack_master/checklists/SplinerTuning.md new file mode 100644 index 0000000..45d0a88 --- /dev/null +++ b/stack_master/checklists/SplinerTuning.md @@ -0,0 +1,55 @@ +# Spliner Tuning +# F1TENTH autonomous grand prix (ICRA'23 London) - ForzaETH + +## Launching in ICRA STACK +Launch headtohead with spliner: +``` +roslaunch stack_master headtohead.launch LU_table:=NUCX_hangar_pacejka overtake_mode:=spliner od_mode:=sami +``` + +After successful launch, you should see the following messages in the command line: +- `[OBS Spliner] Waiting for messages and services...` +- `[Planner] Dynamic Spline Server Launched...` +- `[OBS Spliner] Ready!` + +## Dnyamic Reconfigurable State Machine Parameter Overview +Launch `rqt` and go into `dynamic_statemachine_server` +### Parameters +- `lateral_width_gb_m`: the distance in [m] at which the statemachine considers an obstacle to be blocking the global trajectory. +- `lateral_width_ot_m`: the distance in [m] at which the statemachine considers an obstacle to be blocking the overtaking trajectory. +- `splini_hyst_timer_sec`: hysterisis time in [s] from which the statemachine waits until an overtake state can be entered again. +- `splini_ttl` time to live in [s] that caches the last splines s.t. we finish driving the spline even when switching to trailing state. +- `ftg_speed_mps`: threshold speed in [m/s] at which FTG is triggered to overtake with FTG when in a trailing zone and we are blocked. +- `ftg_timer_sec`: time to await in [s] until we enter FTG. +- `ftg_active`: flag to activate the FTG based overtake. + + +## Dnyamic Reconfigurable Spliner Parameter Overview +Launch `rqt` and go into `dynamic_spliner_tuner_node` +### Parameters +- `evasion_dist`: the apex distance of the spline in [m]. +- `obs_traj_tresh`: the threshold in [m] at which spliner considers obstacles, orthogonal to the raceline. +- `spline_bound_mindist`: minimum distance in [m] that the spline must be distanced to the track boundaries. If a single point of the spline is closer to the boundaries than the treshold, then the spline is aborted. +- `pre_apex_distX`: spline point that is infront of the apex. The spline consists of 7 points in frenet space. the further the `distX` params are set, the smoother the trajectory. +- `post_apex_distX`: spline point that is behind of the apex. You might want to have an asymetric spline, to cut off the opponent. +- `kd_obs_pred`: the gain parameter at which we propagate the `d` of the opponent back to the raceline. +- `fixed_pred_time`: the time in [s] at which we forward propagate the opponent linearly. + +## Troubleshooting +### No spline found +Lower the `evasion_dist` and the `spline_bound_mindist` but keep in mind that collisions are more likely. +### Our opponent cuts our raceline +Increase the `lateral_width_gb_m` and `obs_traj_tresh`. Optionally you can also increase the motion prediction by increasing the propagation time `fixed_pred_time`. +#### These three params are dependant on the opponents behaviour: +- **If the opponent has a similar raceline** as us in the overtaking zones, then the params are not that important. +- **If it is parallel to our raceline** the `lateral_width_gb_m` and `obs_traj_tresh` should be larger than the distance of the racelines. +- **If it cuts our raceline in a shallow angle** the `lateral_width_gb_m` and `obs_traj_tresh` should be chosen very large as well as higher motion propagation `fixed_pred_time`. **However** if we assume the opponent will overshoot after cutting our raceline, then a low `lateral_width_gb_m` will let us go into global trajectory tracking state quickly (once the opponent has overshot). +### In a non overtaking zone with an obstacle we are trapped +- Enable `ftg` in statemachine +### We don't seem to be using spliner waypoints fast enough +- Set down the `splini_hyst_timer_sec` +### Ghost splines come up +- When we have a very short circuit, splines of the previous lap can still be cached. Hence set down `splini_ttl`. + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/SysID.md b/stack_master/checklists/SysID.md new file mode 100644 index 0000000..2965f87 --- /dev/null +++ b/stack_master/checklists/SysID.md @@ -0,0 +1,329 @@ +# Checklist for System Identification + +## Setting Up ID Analyser + +The Analyser is found in the ```race_stack/system_identification/id_analyser``` folder. + +For the analyser you need bagpy, as bagpy only works in python 3, but you might be running python2, create a virtual environment following this guide: +``` +https://code.visualstudio.com/docs/python/environments +``` +which boils down to doing the following in the id_analyser folder: +```shell +sudo apt-get install python3-venv +# move to the current folder +cd /home/icra_crew/catkin_ws/src/race_stack/system_identification/id_analyser/ +# create a new virtual environment +python3 -m venv .venv +``` +Then install the python extension for vscode and open the command palete using ```Ctrl+Shift+P``` and search for +"Python: Select Interpreter". If the interpreter does not show up, just manually select it (.venv/bin/python) + +Then install bagpy and anything else that might be required. + +```shell +source /home/icra_crew/catkin_ws/src/race_stack/system_identification/id_analyser/.venv/bin/activate +pip install wheel importlib-resources tk bagpy +``` + +## Physical System Identification + +Parameters that need to be identified physically are: +- I_z: Moment of Inertia around yaw axis - Bifilar Pendulum experiment +- h_cg: Height of the center of gravity over the wheel axes +- l_f: distance of front axis from center of mass +- l_r: distance of rear axis from center of mass +- l_wb: wheelbase, should be l_r + l_f +- m: mass of the model + +Typically these don't change significantly and need to be identified only once. If a new model is added, generate a model file using the script in the id_analyser [add_model](../../system_identification/id_analyser/add_model.py). + +## Steering Angle to Servo Position [Verify or Identify before Tire Identification] + +The parameters that are affected by this are found in +```f1tenth_system/racecar/racecar/config//vesc.yaml```. We need to set + +``` +steering_angle_to_servo_gain: # e.g. -0.8390 +steering_angle_to_servo_offset: # e.g. 0.405 +``` + +This mapping should already be identified correctly. This can be checked by doing the following: + +### Verify: Driving Straight + +1. Launch the base system with the correct racecar version +```roslaunch racecar pbl_teleop.launch racecar_version:=NUC2 ``` + +2. Drive straight + 2.1 If the car drives to the right: decrease ```steering_angle_to_servo_offset``` + 2.2 If the car drive to the left: increase ```steering_angle_to_servo_offset``` + 2.3 There is always some small error due to servo deadzones. + 2.4 This can also be done by tightening os loosening the steering links on the car + +3. Repeat Step 2 until satisfied + +After finding the correct offset, and setting it in the ```vesc.yaml``` file, navigate to the ```system_identification/id_analyser/models/``` folder. In the two model files you find in there, set ```C_0d``` to the ```steering_angle_to_servo_offset``` you just identified. + +### Verify: Steering Angle Gain + +In the ```system_identification/id_analyser/models//_linear.txt``` file you will find a parameter called ```l_wb```, this is the wheelbase of the car. Assuming ackermann steering, we can estimate how large a driven circle should be given a certain steering angle. The formula is: +```Circle_Radius = Wheelbase / tan(Steering_Angle)``` + +You can command a constant steering angle using the ```id controller```. Navigate to ```system_identification/ic_controller/parameters``` and open ```experiments.yaml```. We will only use experiment number ```5```, in which the car drives with a constant speed defined by the ```const_speed``` parameter and changes the steering angle from ```start_angle``` to ```end_angle``` over the time ```angle_time```. From previous tests we know that the maximum steering angle is around +-0.4. + +By setting the start and end angles to the same value the car will drive with a constant steering angle and speed for angle_time duration. + +To test if the steering to servo position gain is correct do the following: +1. Set the const_speed to 1.5, set the start and end angles to 0.1 -> Car will drive a left hand circle +2. Calculate the circle radius the car should drive at with a steering angle of 0.1. +3. Measure out a circle with with radius and mark the start position of the car and where it should drive through +4. Start the base system like above +```roslaunch racecar pbl_teleop.launch racecar_version:=NUC2 ``` +5. Start the id_controller with ```roslaunch id_controller id_controller.launch experiment:=5``` +6. Hold the top right button on the remote to make the car follow the commands from the id controller. +7. Check if the radius of the driven circle matches the marked positions: + 7.1 If the Radius was too big, increase the ```steering_angle_to_servo_gain``` (more negative, e.g. -0.8 -> -0.85) + 7.2 If the Radius was too small, decrease the ```steering_angle_to_servo_gain``` (less negative, e.g. -0.8 -> -0.75) + +8. Repeat above steps until it drives the circle like you would want it to. Also try out with a negative steering angle: -0.1 -> Car will drive a righthand circle + +9. If, after this procedure, you changed the parameters in the `vesc.yaml` file, change them in the corresponding models of the car. You will find the two files in the following position: +- `race_stack/system_identification/id_analyser/models//_linear.txt` +- `race_stack/system_identification/id_analyser/models//_pacejka.txt` +`steering_angle_to_servo_gain` corresponds to `C_d` and `steering_angle_to_servo_offset` corresponds to `C_0d`. + +### Data-driven Identification of Steering Angle Parameters + +To do this, we need to generate data first. For this: +1. In a terminal navigate to ```~/catkin-ws/src/race_stack/system_identification/id_anaylser``` and if it doesn't exist yet, make the folders ```data//steering_angle```. +2. Go into the ```steering_angle``` folder you just created and prepare the command to record a rosbag: ```rosbag record -a -x "scan"``` +3. In another terminal, start the base system: ```roslaunch racecar pbl_teleop.launch racecar_version:= se_version:=new``` +4. Manually drive a circle driving at a constant speed and steering angle, record rosbag as soon as you reach a steady state and stop rosbag before you stop driving / change steering angle. +5. Repeat step 4. a few times, driving circles with different radii, recording a new rosbag each time. + +To analye the data, navigate to the ```~/catkin_ws/src/race_stack/system_identification/id_analyser``` folder and open ```analyse_steering.py```. Set ```model_name_``` to the model that you want to edit. The models are located in the ```models``` subdirectory. + +Open a terminal in vscode and select the virtual environment set up above as python interpreter. Then run the following command to analyse the data: +```python3 analyse_steering.py``` + +The script will print the parameters that it estimated and will also update them in the model ```.txt```. All that is left to do it to copy the identified ```C_0d``` to ```steering_angle_to_servo_offset``` and ```C_d``` to ```steering_angle_to_servo_gain``` in the ```vesc.yaml``` for the car. + +## Tire Dynamics + +This should be done for new floors or Tires!! +Make sure that the steering angle to servo mapping is identified before. + +## Extensive and exact version (do this if possible): + +To find the tire parameters, we need to make the car drive at different slip angles. To do this, use the id_controller to make the car drive at a constant speed and slowly ramp up the steering angle. + +0. Make a new folder ```~/catkin_ws/src/race_stack/system_identification/id_analyser/data//tire_dynamics```, record subsequent bags in that folder +1. Start the Base system: ```roslaunch racecar pbl_teleop.launch racecar_version:= se_version:=new``` +2. Set the experiment parameters in ```~/catkin_ws/src/race_stack/system_identification/id_controller/parameters/experiments.yaml```: + 1. angle_time: 20, const_speed: 3, start_angle: 0.1, end_angle: 0.4 <-- left hand turn, car will drive circle with 12m diameter and converge to the left of start position + 2. angle_time: 20, const_speed: 4, start_angle: 0.1, end_angle: 0.4 + 3. angle_time: 10, const_speed: 5, start_angle: 0.1, end_angle: 0.4 + 4. angle_time: 10, const_speed: 5, start_angle: -0.1, end_angle: -0.4 <-- right hand turn, car will drive circle with 12m diameter and converge to the right of start position + 5. angle_time: 20, const_speed: 4, start_angle: -0.1, end_angle: -0.4 + 6. angle_time: 20, const_speed: 3, start_angle: -0.1, end_angle: -0.4 +3. Start the experiment with +``` +roslaunch id_controller id_controller.launch experiment:=5 +``` +4. Hold the button on the remote to make the car drive +4. In another terminal open the data folder you just made and start recording a rosbag as soon as the car has reached a steady state: +``` +rosbag record -a -x "scan" +``` +5. The terminal with the experiment will notice you when the experiment is about to be over: "Ending soon, stop the bag" <-- Do so +6. Repeat 2 - 5 with all different settings in step 2. +7. Open ```~/catkin_ws/src/race_stack/system_identification/id_analyser/analyse_tires.py```and change the model name to the one that you are working on (e.g. NUC2_pacejka) +8. Run the script: +``` +source .venv/bin/activate +python3 analyse_tires.py +``` +9. Change the name to the linear version of the model, to also save and fit the linear tire parameters + +## Lookup Table + +After identifying the parameters, the lookup table for the model can be generated automatically. For this open ```~/catkin_ws/src/race_stack/system_identification/id_analyser/generate_lookup_table.py``` and change the model name to the model that you would like to generate the lookup table for. Then run the script: +``` +source .venv/bin/activate +python3 generate_lookup_table.py +``` + +The lookup table will be generated and saved as CSV in the ```id_analyser/models/``` folder. From there you can copy it over to ```system_identification/steering_lookup/cfg``` and name it according to your setting. It can then be used for the MAP controller. + +## Lookup Table validation +Drive on the track and compare to other Lookup Tables + +To roughly check the quality of the obtained measurement, you can test driving around an ellipse and see if the error is low enough. + +1. position the car in a place with at least 1m space to the right, 5m to the left, 5m in front and 5m to the back. There is a picture for reference, with car as the blue arrow. +![](./img/ellipse.png "Car on the ellipse test track") +2. launch the SysId verificator: +``` +roslaunch stack_master sysid_verify.launch mode:=safe LU_table:= +``` +3. Drive around for a couple of laps +4. check in the terminal used for running the test what is the average lap time and what is the average error. In the hangar, [](../launch/sysid_verify.launch) yields ca. 5.95 s for laptime and 0.135 for lateral error. + +## Quick Version (if there is not enough space or time): + +In ```~/catkin_ws/src/race_stack/system_identification/id_analyser/model/NUCX/NUCX_pacejka/linear```, change the mu value to represent how much more slippery or grippy the tires are compared to the measured ones. To do this, measure the lateral friction of the car with the Newtonmeter and compare it to the premeasured values in this [table](https://docs.google.com/spreadsheets/u/1/d/1gE8_uCqfD9cIxWgixRcTf_ySR_eO9Na0u2SreVcDfYg/edit?usp=drive_web&ouid=118084018467953082467) + + Then continue with generating the Lookup Table. + +## Speed to ERPM Mapping [SHOULD NOT BE REQUIRED] + +The parameters that are affected by this are found in +`race_stack/base_system/f1tenth_system/racecar/racecar/config//vesc.yaml`. We need to set + +``` +speed_to_erpm_gain: # e.g. 4316 +speed_to_erpm_offset: #e.g. -5.0 +``` + +This mapping should already be identified correctly. this can be checked by plotting commanded vs measured speed (by slam) in rqt. + + +### Data-driven Identification of Motor RPM parameters + +We are actually going to fix the offset to -5.0, so in fact we only need to identify the ```speed_to_erpm_gain```. +To do this, we need to generate data first. For this: +1. In a terminal navigate to ```~/catkin-ws/src/race_stack/system_identification/id_anaylser``` and if it doesn't exist yet, make the folders ```data//motor```. +2. Go into the motor folder you just created and prepare the command to record a rosbag: ```rosbag record -a -x "scan"``` +3. In another terminal, start the base system: ```roslaunch racecar pbl_teleop.launch racecar_version:= se_version:=new``` +4. Drive straight at a constant velocity, after the car has accelerated to a constant velocity start recording the bag, stop the bag before you stop driving. +5. Repeat step 4. a few times, driving at different speeds, recording a new rosbag each time. + +To analye the data, navigate to the ```~/catkin-ws/src/race_stack/system_identification/id_anaylser``` folder and open ```analyse_motor_rpm.py```. Set ```model_name_``` to the model that you want to edit. The models are located in the ```models``` subdirectory. + +Open a terminal in vscode and select the virtual environment set up above as python interpreter. Then run the following command to analyse the data: +```python3 analyse_motor_rpm.py``` + +The script will print the parameters that it estimated and will also update them in the model ```.txt```. All that is left to do it to copy the identified ```C_v``` to ```speed_to_erpm_gain``` in the ```vesc.yaml``` for the car. + +## Steering Angle to Servo Position [SHOULD NOT BE REQUIRED] + +The parameters that are affected by this are found in +```f1tenth_system/racecar/racecar/config//vesc.yaml```. We need to set + +``` +steering_angle_to_servo_gain: # e.g. -0.8390 +steering_angle_to_servo_offset: # e.g. 0.405 +``` + +This mapping should already be identified correctly. This can be checked by doing the following: + +### Driving Straight + +1. Launch the base system with the correct racecar version +```roslaunch racecar pbl_teleop.launch racecar_version:=NUC4 ``` + +2. Drive straight + 2.1 If the car drives to the right: decrease ```steering_angle_to_servo_offset``` + 2.2 If the car drive to the left: increase ```steering_angle_to_servo_offset``` + 2.3 There is always some small error due to servo deadzones. + 2.4 This can also be done by tightening os loosening the steering links on the car + +3. Repeat Step 2 until satisfied + +After finding the correct offset, and setting it in the ```vesc.yaml``` file, navigate to the ```system_identification/id_analyser/models/``` folder. In the two model files you find in there, set ```C_0d``` to the ```steering_angle_to_servo_offset``` you just identified. + +### Steering Angle Gain + +In the ```system_identification/id_analyser/models//_linear.txt``` file you will find a parameter called ```l_wb```, this is the wheelbase of the car. Assuming ackermann steering, we can estimate how large a driven circle should be given a certain steering angle. The formula is: +```Circle_Radius = Wheelbase / tan(Steering_Angle)``` + +You can command a constant steering angle using the ```id controller```. Navigate to ```system_identification/ic_controller/parameters``` and open ```experiments.yaml```. We will only use experiment number ```5```, in which the car drives with a constant speed defined by the ```const_speed``` parameter and changes the steering angle from ```start_angle``` to ```end_angle``` over the time ```angle_time```. From previous tests we know that the maximum steering angle is around +-0.4. + +By setting the start and end angles to the same value the car will drive with a constant steering angle and speed for angle_time duration. + +To test if the steering to servo position gain is correct do the following: +1. Set the const_speed to 1.5, set the start and end angles to 0.1 -> Car will drive a left hand circle +2. Calculate the circle radius the car should drive at with a steering angle of 0.1. +3. Measure out a circle with with radius and mark the start position of the car and where it should drive through +4. Start the base system like above +```roslaunch racecar pbl_teleop.launch racecar_version:=NUC2 ``` +5. Start the id_controller with ```roslaunch id_controller id_controller.launch experiment:=5``` +6. Hold the top right button on the remote to make the car follow the commands from the id controller. +7. Check if the radius of the driven circle matches the marked positions: + 7.1 If the Radius was too big, increase the ```steering_angle_to_servo_gain``` (more negative, e.g. -0.8 -> -0.85) + 7.2 If the Radius was too small, decrease the ```steering_angle_to_servo_gain``` (less negative, e.g. -0.8 -> -0.75) + +8. Repeat above steps until it drives the circle like you would want it to. Also try out with a negative steering angle: -0.1 -> Car will drive a righthand circle + +9. If, after this procedure, you changed the parameters in the `vesc.yaml` file, change them in the corresponding models of the car. You will find the two files in the following position: +- `race_stack/system_identification/id_analyser/models//_linear.txt` +- `race_stack/system_identification/id_analyser/models//_pacejka.txt` +`steering_angle_to_servo_gain` corresponds to `C_d` and `steering_angle_to_servo_offset` corresponds to `C_0d`. + + +### Data-driven Identification of Steering Angle Parameters + +To do this, we need to generate data first. For this: +1. In a terminal navigate to ```~/catkin-ws/src/race_stack/system_identification/id_anaylser``` and if it doesn't exist yet, make the folders ```data//steering_angle```. +2. Go into the ```steering_angle``` folder you just created and prepare the command to record a rosbag: ```rosbag record -a -x "scan"``` +3. In another terminal, start the base system: ```roslaunch racecar pbl_teleop.launch racecar_version:= se_version:=new``` +4. Manually drive a circle driving at a constant speed and steering angle, record rosbag as soon as you reach a steady state and stop rosbag before you stop driving / change steering angle. +5. Repeat step 4. a few times, driving circles with different radii, recording a new rosbag each time. + +To analye the data, navigate to the ```~/catkin_ws/src/race_stack/system_identification/id_analyser``` folder and open ```analyse_steering.py```. Set ```model_name_``` to the model that you want to edit. The models are located in the ```models``` subdirectory. + +Open a terminal in vscode and select the virtual environment set up above as python interpreter. Then run the following command to analyse the data: +```python3 analyse_steering.py``` + +The script will print the parameters that it estimated and will also update them in the model ```.txt```. All that is left to do it to copy the identified ```C_0d``` to ```steering_angle_to_servo_offset``` and ```C_d``` to ```steering_angle_to_servo_gain``` in the ```vesc.yaml``` for the car. + +## Acceleration to Current Gain [SHOULD NOT BE REQUIRED] +This is only needed when controlling the cars acceleration directly and not through the VESC + +0. Make a new folder ```~/catkin_ws/src/race_stack/system_identification/id_analyser/data//accel```, record subsequent bags in that folder +1. Start the Base system: ```roslaunch racecar pbl_teleop.launch racecar_version:= se_version:=new``` and make sure that you have at least 20m of free space in front of the car. +2. Set the experiment parameters in ```~/catkin_ws/src/race_stack/system_identification/id_controller/parameters/experiments.yaml```: + 1. const_accel = 2, const_decel = 2 + 2. const_accel = 4, const_decel = 4 + 3. const_accel = 6, const_decel = 6 +3. In another terminal open the data folder you just made and prepare for recording a rosbag. +``` +rosbag record -a -x "scan" +``` +4. Start the experiment with +``` +roslaunch id_controller id_controller.launch experiment:=3 +``` +5. Immediately start the rosbag +6. Hold the button on the remote to make the car drive + +7. The terminal with the experiment will notice you when the experiment is over: "Experiment over", so stop the rosbag +8. Repeat 2 - 7 with all different settings in step 2. +9. Open ```~/catkin_ws/src/race_stack/system_identification/id_analyser/analyse_accel.py```and change the model name to the one that you are working on (e.g. NUC2_pacejka) +10. Run the script: +``` +source .venv/bin/activate +python3 analyse_tires.py +``` +11. Do the same with +```~/catkin_ws/src/race_stack/system_identification/id_analyser/analyse_decel.py``` + +12. In ```~/catkin_ws/src/race_stack/system_identification/id_analyser/models/NUCX/NUCX_pacejka.txt``` look at the parameters C_acc, C_dec and C_R + +13. In ```~/catkin_ws/src/race_stack/base_system/f1tenth_system/racecar/racecar/config/NUCX/vesc.yaml```, input the found parameters in the following way: + + acceleration_to_current_gain: C_acc + + deceleration_to_current_gain: C_dec + + velocity_to_current_gain: C_R + +14. Verify the parameters by setting the parameters to +``` + const_accel = 2, const_decel = 2 +``` +and launching ``` roslaunch id_controller id_controller.launch experiment:=3 ``` again. Measure out a 6m long straight and measure the time it takes to drive across from standing still. Calculate the acceleration by $a = 2* distance/t²$. Adjust Accel and Decel Gain if needed. + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/TimeTrials.md b/stack_master/checklists/TimeTrials.md new file mode 100644 index 0000000..f7fca79 --- /dev/null +++ b/stack_master/checklists/TimeTrials.md @@ -0,0 +1,49 @@ +# Checklist for Time Trials + +## Jobs + +- Pilot: +- Mission Control: +- Orbiters: + +## Precheck +0. Use a fully charged battery and turn on the car +1. Check all walkie-talkie batteries +2. Check if you are in the correct branch (`master`) on the car. +3. `catkin build` and `sauce` +4. No wires in the way, battery is firmly positioned with tape +5. Wheel nuts tightened and pin checked +6. Walkie-Talkie connection is established between mission control [Localization_MissionControl] and [Pilot]. +7. Make sure [Pilot] knows the normal and overtaking sectors of the track, as well as the raceline +8. [Orbiters] are equidistant along the track +9. [MissionControl] prep a clock to countdown the time remaining + +## First Heat +0. Launch `roscore` and `base_system` on the car +1. Locally, launch `pit_rvizX` and `pitX rqt`. +2. [MissionControl] Check all `rqt` dynamic reconfigure parameters are good. +3. Launch time trials: + + ```bash + roslaunch stack_master time_trials.launch racecar_version:= LU_table:= + ``` +4. [MisisonControl] Check if localization is good. If needed, correct the position either telling the [Pilot] to localize or with the pose estimation button in RViz. +5. When all MissionControl parameters are OK, [Localization_MissionControl] gives a thumbs-up. When [Pilot] sees this, start autonomous driving. +6. Ready check: "pit ready" --> "orbiter ready" --> "driver ready" + +## Second Heat +0. Decide a strategy, if needed. +1. Replace the battery and ensure it is secured. +2. Repeat [the checklist above](#first-heat). + +## Procedure in case of a Crash + +0. The two closest [Orbiters] run to the crash site. +1. One student raises the barriers while the [Driver] drives the car back onto the track. +2. [Driver] drives manually around the track while the barriers are repaired. +3. When localization is ready, [Localization_MissionControl] informs the [Driver]. +4. The driver must return to the position of the crash. +5. When the driver receives the signal from the referees, resume autonomous driving. + +--- +[Go back to the checklist index](./README.md) \ No newline at end of file diff --git a/stack_master/checklists/img/ellipse.png b/stack_master/checklists/img/ellipse.png new file mode 100644 index 0000000..7fa9fdf Binary files /dev/null and b/stack_master/checklists/img/ellipse.png differ diff --git a/stack_master/checklists/img/l1_dist.png b/stack_master/checklists/img/l1_dist.png new file mode 100644 index 0000000..e4888e5 Binary files /dev/null and b/stack_master/checklists/img/l1_dist.png differ diff --git a/stack_master/checklists/img/speed_scaling.png b/stack_master/checklists/img/speed_scaling.png new file mode 100644 index 0000000..cb4e5ea Binary files /dev/null and b/stack_master/checklists/img/speed_scaling.png differ diff --git a/stack_master/checklists/networking.md b/stack_master/checklists/networking.md new file mode 100644 index 0000000..fab4ec9 --- /dev/null +++ b/stack_master/checklists/networking.md @@ -0,0 +1,60 @@ +## Instructions + + +**Note**: Throughout this README, NUC2 refers to a generic physical car. + +### Car connection + +The WAN can then be used to connect to the car. For instance, to connect to NUC2: +`ssh @` + +NOTE: +It only works if the car is on. + +### SSH connections - basic info + +To connect to the car you will use the Secure Shell Protocol (SSH) with the homonym UNIX command `ssh`. +It will create a secure and encrypted connection to the machine. + +To automatically login into the selected host, you can copy one of your public ssh keys with the single-liner: + + ssh-copy-id -i @ +For instance, if you created the ssh key in the default location and you want to automatically authenticate to the user `` in NUC2, you should use the following command: + + ssh-copy-id -i ~/.ssh/id_rsa.pub @ +After this, running the command `ssh @` will automatically login into the user without the need of a password. + +### X11 forwarding +The X Window System (X11, or simply X) is the windowing system that basically create and manages the graphical interfaces on most Ubuntu installations. +For the work on F1TENTH, we will need to forward X from the car onto the PC you are using, as it is needed for mapping. +Doing that is very simple, as it only consists in adding the flag `-X` to the `ssh` command. Adding the additional flag `-C` for compression is suggested: + + ssh -XC @ + +### SSH and VSCode +VSCode provides you with very easy integration with ssh connections. +If you want to access the filesystem of the car with VSCode, so to be able to modify the files on the car with the capabilities of VSCode, you'll first need to install the Remote-SSH extension, with the extensions window. +Then a green symbol will appear in the lower left corner. You can click that to start an ssh connection to a specified server. +You can also save preferred hosts by clicking on `Open SSH Configuration File...` and then saving the hosts in a way similar to this: + + Host racecrew@NUC2 + ForwardX11 yes + Compression yes + HostName + User + + ... + +After saving such a config file, you can also run `ssh racecrew@NUC2` and it will connect you to the car with the specified settings (e.g. X11 forwarding enabled) + +### Bash Aliases +You can add the following to your bash configuration file for convenience. There are also other aliases for Pit Starter convenience, take a look on the [Pit Usage Guide](./PitUsage.md). +```bash +# aliases to get into cars faster +alias sshnuc2="ssh -XC @" +alias sshnuc3="ssh -XC @" +... +``` + +--- +[Go back to the checklists index](./README.md) \ No newline at end of file diff --git a/stack_master/config/BayesOpt_MAP/MAP_EI.yaml b/stack_master/config/BayesOpt_MAP/MAP_EI.yaml new file mode 100644 index 0000000..e23a60f --- /dev/null +++ b/stack_master/config/BayesOpt_MAP/MAP_EI.yaml @@ -0,0 +1,15 @@ +acq_func: EI +experiment_name: MAP_tuning +input_dim: 3 +log_dir: /home/gnone/catkin_ws/logs +lower_bound: +- 0.6 +- 0.3 +- -0.2 +max_iter: 20 +maximize: false +n_init: 1 +upper_bound: +- 0.9 +- 0.6 +- -0.1 diff --git a/stack_master/config/JET1/high_level_mux.yaml b/stack_master/config/JET1/high_level_mux.yaml new file mode 100644 index 0000000..e422db0 --- /dev/null +++ b/stack_master/config/JET1/high_level_mux.yaml @@ -0,0 +1,38 @@ +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides ackermann_cmd messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Nav_0" + topic: "input/nav_0" + timeout: 0.2 + priority: 20 + short_desc: "Input for autonomous navigation, highest priority" + + - name: "Nav_1" + topic: "input/nav_1" + timeout: 0.2 + priority: 15 + short_desc: "Input for autonomous navigation" + + - name: "Nav_2" + topic: "input/nav_2" + timeout: 0.2 + priority: 10 + short_desc: "Input for autonomous navigation" + + - name: "Nav_3" + topic: "input/nav_3" + timeout: 0.2 + priority: 5 + short_desc: "Input for autonomous navigation" + + - name: "Default" + topic: "input/default" + timeout: 1.0 + priority: 0 + short_desc: "Default input, lowest priority" +publisher: "output" \ No newline at end of file diff --git a/stack_master/config/JET1/joy_teleop.launch.xml b/stack_master/config/JET1/joy_teleop.launch.xml new file mode 100644 index 0000000..41bbca9 --- /dev/null +++ b/stack_master/config/JET1/joy_teleop.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/stack_master/config/JET1/joy_teleop.yaml b/stack_master/config/JET1/joy_teleop.yaml new file mode 100644 index 0000000..bdb15fb --- /dev/null +++ b/stack_master/config/JET1/joy_teleop.yaml @@ -0,0 +1,51 @@ +joy_node: + dev: /dev/input/js0 + deadzone: 0.3 + autorepeat_rate: 20 + coalesce_interval: 0.01 + +teleop: + # Default mode - Stop for safety + default: + type: topic + is_default: true + message_type: ackermann_msgs/AckermannDriveStamped + topic_name: low_level/ackermann_cmd_mux/input/teleop + message_value: + - + target: drive.speed + value: 0.0 + - + target: drive.steering_angle + value: 0.0 + + # Enable Human control by holding Left Bumper + human_control: + type: topic + message_type: ackermann_msgs/AckermannDriveStamped + topic_name: low_level/ackermann_cmd_mux/input/teleop + deadman_buttons: [4] + axis_mappings: + - + axis: 1 + target: drive.speed + scale: 3.0 # joystick will command plus or minus 2 meters / second + offset: 0.0 + - + axis: 2 + target: drive.steering_angle + scale: 0.34 # joystick will command plus or minus ~20 degrees steering angle + offset: 0.0 + + # Enable autonomous control by pressing right bumper + # This switch causes the joy_teleop to stop sending messages to input/teleop + # And send messages to /dev/null (an unused ROS topic) + autonomous_control: + type: topic + message_type: std_msgs/Int8 + topic_name: /dev/null + deadman_buttons: [5] + message_value: + - + target: data + value: 0 diff --git a/stack_master/config/JET1/low_level_mux.yaml b/stack_master/config/JET1/low_level_mux.yaml new file mode 100644 index 0000000..443b98c --- /dev/null +++ b/stack_master/config/JET1/low_level_mux.yaml @@ -0,0 +1,27 @@ +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides ackermann_cmd messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Teleoperation" + topic: "input/teleop" + timeout: 0.2 + priority: 10 + short_desc: "Input for human teleoperation (joystick). Highest priority." + + - name: "Safety" + topic: "input/safety" + timeout: 0.2 + priority: 5 + short_desc: "Input for safety monitor." + + - name: "Navigation" + topic: "input/navigation" + timeout: 0.2 + priority: 0 + short_desc: "Input for autonomous navigation" + +publisher: "output" \ No newline at end of file diff --git a/stack_master/config/JET1/sensors.launch.xml b/stack_master/config/JET1/sensors.launch.xml new file mode 100644 index 0000000..e0e808f --- /dev/null +++ b/stack_master/config/JET1/sensors.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/sensors.yaml b/stack_master/config/JET1/sensors.yaml new file mode 100644 index 0000000..0f66edf --- /dev/null +++ b/stack_master/config/JET1/sensors.yaml @@ -0,0 +1,7 @@ + +laser_node: + ip_address: 192.168.0.10 + device: /dev/sensors/hokuyo + +imu_node: + device: /dev/imu diff --git a/stack_master/config/JET1/slam/f110_2d.lua b/stack_master/config/JET1/slam/f110_2d.lua new file mode 100644 index 0000000..e751cf0 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_2d.lua @@ -0,0 +1,52 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 3.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.1 + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 100 +POSE_GRAPH.optimize_every_n_nodes = 20 + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0 +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0 + +return options diff --git a/stack_master/config/JET1/slam/f110_2d_loc.lua b/stack_master/config/JET1/slam/f110_2d_loc.lua new file mode 100644 index 0000000..8f2c6a1 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_2d_loc.lua @@ -0,0 +1,60 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 4.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.05 +TRAJECTORY_BUILDER.pure_localization_trimmer = { + max_submaps_to_keep = 5, +} + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80 +POSE_GRAPH.optimize_every_n_nodes = 5 +POSE_GRAPH.global_sampling_ratio = 0.05 +POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0 +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0 +--POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1.25 * POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight + + +return options + diff --git a/stack_master/config/JET1/slam/f110_description/CMakeLists.txt b/stack_master/config/JET1/slam/f110_description/CMakeLists.txt new file mode 100755 index 0000000..1ef2615 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/CMakeLists.txt @@ -0,0 +1,181 @@ +cmake_minimum_required(VERSION 2.8.3) +project(f110_description) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES racecar_description +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) + +## Declare a C++ library +# add_library(racecar_description +# src/${PROJECT_NAME}/racecar_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(racecar_description ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(racecar_description_node src/racecar_description_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(racecar_description_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(racecar_description_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS racecar_description racecar_description_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_racecar_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/stack_master/config/JET1/slam/f110_description/meshes/chassis.STL 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model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.config new file mode 100755 index 0000000..7ef2b4a --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.config @@ -0,0 +1,17 @@ + + Marker1 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.sdf new file mode 100755 index 0000000..3155a67 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker1/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png new file mode 100755 index 0000000..2a203ef Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae new file mode 100755 index 0000000..98a2b82 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker10.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 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model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.config new file mode 100755 index 0000000..2f33aaa --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.config @@ -0,0 +1,17 @@ + + Marker10 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.sdf new file mode 100755 index 0000000..b3411e6 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker10/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png new file mode 100755 index 0000000..2303c36 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae new file mode 100755 index 0000000..e575966 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.config new file mode 100755 index 0000000..d3a850b --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.config @@ -0,0 +1,17 @@ + + Marker11 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.sdf new file mode 100755 index 0000000..cf63a96 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker11/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png new file mode 100755 index 0000000..704b9bb Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae new file mode 100755 index 0000000..95674a9 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.config new file mode 100755 index 0000000..6938798 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.config @@ -0,0 +1,17 @@ + + Marker12 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.sdf new file mode 100755 index 0000000..689af0c --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker12/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png new file mode 100755 index 0000000..79a7b32 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae new file mode 100755 index 0000000..bf0a650 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.config new file mode 100755 index 0000000..982712d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.config @@ -0,0 +1,17 @@ + + Marker13 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.sdf new file mode 100755 index 0000000..4df884a --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker13/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png new file mode 100755 index 0000000..3337cda Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae new file mode 100755 index 0000000..71cee4b --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.config new file mode 100755 index 0000000..a247db7 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.config @@ -0,0 +1,17 @@ + + Marker14 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.sdf new file mode 100755 index 0000000..8d512f7 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker14/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png new file mode 100755 index 0000000..df61cc7 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae new file mode 100755 index 0000000..4100937 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.config new file mode 100755 index 0000000..6cfc9fe --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.config @@ -0,0 +1,17 @@ + + Marker15 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.sdf new file mode 100755 index 0000000..3da547f --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker15/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png new file mode 100755 index 0000000..84cea70 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae new file mode 100755 index 0000000..e309ae9 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.config new file mode 100755 index 0000000..7e7ffb7 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.config @@ -0,0 +1,17 @@ + + Marker16 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.sdf new file mode 100755 index 0000000..629d5a3 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker16/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png new file mode 100755 index 0000000..8ca4a9d Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae new file mode 100755 index 0000000..c5fd548 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.config new file mode 100755 index 0000000..00af1b1 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.config @@ -0,0 +1,17 @@ + + Marker17 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.sdf new file mode 100755 index 0000000..48d7ab4 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker17/model.sdf @@ -0,0 +1,14 @@ + + + true + 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Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png new file mode 100755 index 0000000..d2cb1ea Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae new file mode 100755 index 0000000..ecdc879 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 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model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.config new file mode 100755 index 0000000..fa54371 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.config @@ -0,0 +1,17 @@ + + Marker2 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.sdf new file mode 100755 index 0000000..21e4a9b --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker2/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png new file mode 100755 index 0000000..05a3281 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae new file mode 100755 index 0000000..27855f8 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.config new file mode 100755 index 0000000..047cf17 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.config @@ -0,0 +1,17 @@ + + Marker3 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.sdf new file mode 100755 index 0000000..fe58f24 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker3/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png new file mode 100755 index 0000000..bc7830b Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae new file mode 100755 index 0000000..58d0649 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.config new file mode 100755 index 0000000..2e9fd7e --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.config @@ -0,0 +1,17 @@ + + Marker4 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.sdf new file mode 100755 index 0000000..cc4d203 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker4/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png new file mode 100755 index 0000000..5d3113c Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae new file mode 100755 index 0000000..67f2252 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.config new file mode 100755 index 0000000..0f0e870 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.config @@ -0,0 +1,17 @@ + + Marker5 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.sdf new file mode 100755 index 0000000..07db97d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker5/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png new file mode 100755 index 0000000..cb00f15 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae new file mode 100755 index 0000000..956fb0c --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.config new file mode 100755 index 0000000..c4f59c6 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.config @@ -0,0 +1,17 @@ + + Marker6 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.sdf new file mode 100755 index 0000000..6aa9902 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker6/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png new file mode 100755 index 0000000..41ddc8b Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae new file mode 100755 index 0000000..f486fbf --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.config new file mode 100755 index 0000000..b4af58e --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.config @@ -0,0 +1,17 @@ + + Marker7 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.sdf new file mode 100755 index 0000000..cb6db5f --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker7/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png new file mode 100755 index 0000000..dec84a2 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae new file mode 100755 index 0000000..0ec7bf6 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf new file mode 100755 index 0000000..8f15643 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf new file mode 100755 index 0000000..cb4f7b6 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.config new file mode 100755 index 0000000..317baae --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.config @@ -0,0 +1,17 @@ + + Marker8 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.sdf new file mode 100755 index 0000000..12ab587 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker8/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png new file mode 100755 index 0000000..358cb97 Binary files /dev/null and b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png differ diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae new file mode 100755 index 0000000..dedced0 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker9.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf new file mode 100755 index 0000000..875f1f1 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf new file mode 100755 index 0000000..e6adfe5 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.config b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.config new file mode 100755 index 0000000..4daf6ea --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.config @@ -0,0 +1,17 @@ + + Marker9 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.sdf b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.sdf new file mode 100755 index 0000000..ec27065 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/ar_tags/marker9/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/JET1/slam/f110_description/models/cone/model.config b/stack_master/config/JET1/slam/f110_description/models/cone/model.config new file mode 100755 index 0000000..9baefb6 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/cone/model.config @@ -0,0 +1,7 @@ + + + cone + 1.0 + model.sdf + A bright orange cone + diff --git a/stack_master/config/JET1/slam/f110_description/models/cone/model.sdf b/stack_master/config/JET1/slam/f110_description/models/cone/model.sdf new file mode 100755 index 0000000..e5875eb --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/cone/model.sdf @@ -0,0 +1,27 @@ + + + + + + + + model://racecar_description/meshes/cone.dae + + + + + + + model://racecar_description/meshes/cone.dae + + + + 1 0.2 0 1 + 1 0.2 0 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/models/parking_1/model.config b/stack_master/config/JET1/slam/f110_description/models/parking_1/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/parking_1/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/stack_master/config/JET1/slam/f110_description/models/parking_1/model.sdf b/stack_master/config/JET1/slam/f110_description/models/parking_1/model.sdf new file mode 100755 index 0000000..e1da33e --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/parking_1/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + 1 + + diff --git a/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.config b/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.sdf b/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.sdf new file mode 100755 index 0000000..18d303b --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/models/walker_racecourse/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + 1 + + diff --git a/stack_master/config/JET1/slam/f110_description/package.xml b/stack_master/config/JET1/slam/f110_description/package.xml new file mode 100755 index 0000000..f0b5eff --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/package.xml @@ -0,0 +1,49 @@ + + + f110_description + 0.0.0 + The racecar_description package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/urdf/F110.xacro b/stack_master/config/JET1/slam/f110_description/urdf/F110.xacro new file mode 100644 index 0000000..c8d1b61 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/urdf/F110.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/urdf/macros.xacro b/stack_master/config/JET1/slam/f110_description/urdf/macros.xacro new file mode 100755 index 0000000..73d4f94 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/urdf/macros.xacro @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/urdf/materials.xacro b/stack_master/config/JET1/slam/f110_description/urdf/materials.xacro new file mode 100755 index 0000000..49f4bc1 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/urdf/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/urdf/racecar.gazebo b/stack_master/config/JET1/slam/f110_description/urdf/racecar.gazebo new file mode 100755 index 0000000..ab4ff78 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/urdf/racecar.gazebo @@ -0,0 +1,135 @@ + + + + + + + + + + + Gazebo/Blue + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + /racecar + gazebo_ros_control/DefaultRobotHWSim + + + + + + + Gazebo/Grey + + 0 0 0.0124 0 0 0 + true + 40 + + + + 1081 + 1 + -2.3561944902 + 2.3561944902 + + + + 0.1 + 10.0 + 0.01 + + + 0.0 + 0.01 + + + + /scan + laser + + + + + + + + + + 30.0 + + + 0.8709216071359963 + + 640 + 480 + B8G8R8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 30.0 + /camera/zed + rgb/image_rect_color + rgb/camera_info + camera_link + 0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + diff --git a/stack_master/config/JET1/slam/f110_description/urdf/racecar.xacro b/stack_master/config/JET1/slam/f110_description/urdf/racecar.xacro new file mode 100755 index 0000000..2c25e89 --- /dev/null +++ b/stack_master/config/JET1/slam/f110_description/urdf/racecar.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/static_transforms.launch.xml b/stack_master/config/JET1/static_transforms.launch.xml new file mode 100644 index 0000000..65639dd --- /dev/null +++ b/stack_master/config/JET1/static_transforms.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/vesc.launch.xml b/stack_master/config/JET1/vesc.launch.xml new file mode 100644 index 0000000..1752d81 --- /dev/null +++ b/stack_master/config/JET1/vesc.launch.xml @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/JET1/vesc.yaml b/stack_master/config/JET1/vesc.yaml new file mode 100644 index 0000000..ddf7743 --- /dev/null +++ b/stack_master/config/JET1/vesc.yaml @@ -0,0 +1,50 @@ + +# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset +speed_to_erpm_gain: 4614 +speed_to_erpm_offset: 0.0 + +tachometer_ticks_to_meters_gain: 0.00225 + +# servo smoother - limits rotation speed and smooths anything above limit +max_servo_speed: 3.2 # radians/second +servo_smoother_rate: 75.0 # messages/sec +servo_timeout: 0.1 # (stop publishing after inactive for) s + +# motor rpm smoother - limits acceleration and smooths anything above limit +# not used when sending current commands +max_acceleration: 2.5 # meters/second^2 +throttle_smoother_rate: 75.0 # messages/sec +motor_timeout: 0.1 # (stop publishing after inactive for) s + +# motor current smoother - limits current and filters with time constant +max_accel_current: 65 #A +max_brake_current: 50 #A () +current_time_constant: 0.05 #s +current_smoother_rate: 100.0 # messages/sec +current_timeout: 0.1 # s for correct interpolation the controller must publish at frequency higher than 1/this + +# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset +steering_angle_to_servo_gain: -1.2135 +steering_angle_to_servo_offset: 0.47 +#0.5304 + +# publish odom to base link tf +vesc_to_odom/publish_tf: false + +# car wheelbase is about 25cm +wheelbase: .25 + +vesc_driver: + port: /dev/sensors/vesc + duty_cycle_min: 0.0 + duty_cycle_max: 0.0 + current_min: 0.0 + current_max: 100.0 + brake_min: -20000.0 + brake_max: 200000.0 + speed_min: -23250 + speed_max: 23250 + position_min: 0.0 + position_max: 0.0 + servo_min: 0.15 + servo_max: 0.85 diff --git a/stack_master/config/JET1/vesc_new.yaml b/stack_master/config/JET1/vesc_new.yaml new file mode 100644 index 0000000..71b47e0 --- /dev/null +++ b/stack_master/config/JET1/vesc_new.yaml @@ -0,0 +1,51 @@ + +# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset +speed_to_erpm_gain: 4614 +speed_to_erpm_offset: 0.0 + +tachometer_ticks_to_meters_gain: 0.00225 + +# servo smoother - limits rotation speed and smooths anything above limit +max_servo_speed: 3.2 # radians/second +servo_smoother_rate: 75.0 # messages/sec +servo_timeout: 0.1 # (stop publishing after inactive for) s + +# motor rpm smoother - limits acceleration and smooths anything above limit +# not used when sending current commands +max_acceleration: 2.5 # meters/second^2 +throttle_smoother_rate: 75.0 # messages/sec +motor_timeout: 0.1 # (stop publishing after inactive for) s + +# motor current smoother - limits current and filters with time constant +max_accel_current: 65 #A +max_brake_current: 50 #A () +current_time_constant: 0.05 #s +current_smoother_rate: 100.0 # messages/sec +current_timeout: 0.1 # s for correct interpolation the controller must publish at frequency higher than 1/this + +# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset +steering_angle_to_servo_gain: -1.2135 +#steering_angle_to_servo_offset: 0.5304 +steering_angle_to_servo_offset: 0.5 + + +# publish odom to base link tf +vesc_to_odom/publish_tf: false + +# car wheelbase is about 25cm +wheelbase: .25 + +vesc_driver: + port: /dev/ttyACM1 + duty_cycle_min: 0.0 + duty_cycle_max: 0.5 + current_min: 0.0 + current_max: 100.0 + brake_min: -20000.0 + brake_max: 200000.0 + speed_min: -33250 + speed_max: 33250 + position_min: 0.0 + position_max: 0.0 + servo_min: 0.15 + servo_max: 0.85 diff --git a/stack_master/config/NUC2/BO_ranges.yaml b/stack_master/config/NUC2/BO_ranges.yaml new file mode 100644 index 0000000..656b995 --- /dev/null +++ b/stack_master/config/NUC2/BO_ranges.yaml @@ -0,0 +1,36 @@ + +l1_param: + t_clip_min: + lower_bound: 0.6 + upper_bound: 0.9 + m_l1: + lower_bound: 0.3 + upper_bound: 0.6 + q_l1: + lower_bound: -0.2 + upper_bound: -0.1 + +Sector0: + lower_bound: 0.75 + upper_bound: 0.79 +Sector1: + lower_bound: 0.75 + upper_bound: 0.79 +Sector2: + lower_bound: 0.75 + upper_bound: 0.79 +Sector3: + lower_bound: 0.75 + upper_bound: 0.79 +Sector4: + lower_bound: 0.75 + upper_bound: 0.79 +Sector5: + lower_bound: 0.75 + upper_bound: 0.79 +Sector6: + lower_bound: 0.75 + upper_bound: 0.79 + + + diff --git a/stack_master/config/NUC2/NUC2_linear.yaml b/stack_master/config/NUC2/NUC2_linear.yaml new file mode 100644 index 0000000..f803fc2 --- /dev/null +++ b/stack_master/config/NUC2/NUC2_linear.yaml @@ -0,0 +1,20 @@ +C_0d: 0.48 +C_0v: 100 +C_Sf: 5.035741752330491 +C_Sr: 9.618871913816136 +C_acc: 3.2 +C_d: -1.1 +C_dec: 3.2 +C_v: 20 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC2 +mu: 1.0 +tau_steer: 0.15779476 +tire_model: linear diff --git a/stack_master/config/NUC2/NUC2_pacejka.yaml b/stack_master/config/NUC2/NUC2_pacejka.yaml new file mode 100644 index 0000000..633a4ad --- /dev/null +++ b/stack_master/config/NUC2/NUC2_pacejka.yaml @@ -0,0 +1,27 @@ +C_0d: 0.48 +C_Pf: +- 4.798521440254997 +- 2.1640281784621833 +- 0.6502296853018044 +- 0.3732212044732381 +C_Pr: +- 19.999999999999996 +- 1.4999999999999998 +- 0.6184183350099146 +- 1.1322308905491715e-16 +C_R: 9.618150720869203 +C_acc: 0.35909931926497446 +C_d: -1.1 +C_dec: 3.2 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC2 +mu: 1 +tau_steer: 0.15779476 +tire_model: pacejka diff --git a/stack_master/config/NUC2/high_level_mux.yaml b/stack_master/config/NUC2/high_level_mux.yaml new file mode 100644 index 0000000..f7bf481 --- /dev/null +++ b/stack_master/config/NUC2/high_level_mux.yaml @@ -0,0 +1,38 @@ +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides ackermann_cmd messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "FTG" + topic: "input/ctrl" + timeout: 0.2 + priority: 20 + short_desc: "Input for autonomous navigation, highest priority" + + - name: "Nav_1" + topic: "input/nav_1" + timeout: 0.2 + priority: 15 + short_desc: "Input for autonomous navigation" + + - name: "Nav_2" + topic: "input/nav_2" + timeout: 0.2 + priority: 10 + short_desc: "Input for autonomous navigation" + + - name: "Nav_3" + topic: "input/nav_3" + timeout: 0.2 + priority: 5 + short_desc: "Input for autonomous navigation" + + - name: "Default" + topic: "input/default" + timeout: 1.0 + priority: 0 + short_desc: "Default input, lowest priority" +publisher: "output" \ No newline at end of file diff --git a/stack_master/config/NUC2/joy_teleop.launch.xml b/stack_master/config/NUC2/joy_teleop.launch.xml new file mode 100644 index 0000000..41bbca9 --- /dev/null +++ b/stack_master/config/NUC2/joy_teleop.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/joy_teleop.yaml b/stack_master/config/NUC2/joy_teleop.yaml new file mode 100644 index 0000000..4b80e4b --- /dev/null +++ b/stack_master/config/NUC2/joy_teleop.yaml @@ -0,0 +1,52 @@ +joy_node: + dev: /dev/input/js0 + deadzone: 0.3 + autorepeat_rate: 20 + coalesce_interval: 0.01 + +teleop: + # Default mode - Stop for safety + default: + type: topic + is_default: true + message_type: ackermann_msgs/AckermannDriveStamped + topic_name: low_level/ackermann_cmd_mux/input/teleop + message_value: + - + target: drive.speed + value: 0.0 + - + target: drive.steering_angle + value: 0.0 + + # Enable Human control by holding Left Bumper + human_control: + type: topic + message_type: ackermann_msgs/AckermannDriveStamped + topic_name: low_level/ackermann_cmd_mux/input/teleop + deadman_buttons: [4] + axis_mappings: + - + axis: 1 + target: drive.speed + scale: 4.0 # joystick will command plus or minus 2 meters / second + offset: 0.0 + - + axis: 3 + target: drive.steering_angle + scale: 0.34 # joystick will command plus or minus ~20 degrees steering angle + offset: 0.0 + + # Enable autonomous control by pressing right bumper + # This switch causes the joy_teleop to stop sending messages to input/teleop + # And send messages to /dev/null (an unused ROS topic) + autonomous_control: + type: topic + message_type: std_msgs/Int8 + topic_name: /dev/null + deadman_buttons: [5] + message_value: + - + target: data + value: 0 + diff --git a/stack_master/config/NUC2/l1_params.yaml b/stack_master/config/NUC2/l1_params.yaml new file mode 100644 index 0000000..ee1ff8e --- /dev/null +++ b/stack_master/config/NUC2/l1_params.yaml @@ -0,0 +1,31 @@ +## L1 Parameters + +t_clip_min: 0.8 +t_clip_max: 5 +m_l1: 0.6 +q_l1: -0.165 +speed_lookahead: 0.25 +lat_err_coeff: 1 +# acc_scaler_for_steer_safe: 1.2 +# dec_scaler_for_steer_safe: 0.9 +# acc_scaler_for_steer_aggressive: 1.1 +acc_scaler_for_steer: 1.2 +dec_scaler_for_steer: 0.9 + +start_scale_speed: 7.0 +end_scale_speed: 8.0 +downscale_factor: 0.2 + +# increasing this to 0.20 AT MOST can make the car faster on the laptime but cut more corners +speed_lookahead_for_steer: 0.0 # safe/agg 0.0/0.175 + + +## Trailing Controller Parameters +prioritize_dyn: True +trailing_gap: 2 # Distance in meters or gap in seconds, depending on mode +trailing_p_gain: 1 +trailing_i_gain: 0.0 +trailing_d_gain: 0.2 +blind_trailing_speed: 1.5 + + diff --git a/stack_master/config/NUC2/low_level_mux.yaml b/stack_master/config/NUC2/low_level_mux.yaml new file mode 100644 index 0000000..443b98c --- /dev/null +++ b/stack_master/config/NUC2/low_level_mux.yaml @@ -0,0 +1,27 @@ +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides ackermann_cmd messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Teleoperation" + topic: "input/teleop" + timeout: 0.2 + priority: 10 + short_desc: "Input for human teleoperation (joystick). Highest priority." + + - name: "Safety" + topic: "input/safety" + timeout: 0.2 + priority: 5 + short_desc: "Input for safety monitor." + + - name: "Navigation" + topic: "input/navigation" + timeout: 0.2 + priority: 0 + short_desc: "Input for autonomous navigation" + +publisher: "output" \ No newline at end of file diff --git a/stack_master/config/NUC2/sensors.launch.xml b/stack_master/config/NUC2/sensors.launch.xml new file mode 100644 index 0000000..e0e808f --- /dev/null +++ b/stack_master/config/NUC2/sensors.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/sensors.yaml b/stack_master/config/NUC2/sensors.yaml new file mode 100644 index 0000000..0f66edf --- /dev/null +++ b/stack_master/config/NUC2/sensors.yaml @@ -0,0 +1,7 @@ + +laser_node: + ip_address: 192.168.0.10 + device: /dev/sensors/hokuyo + +imu_node: + device: /dev/imu diff --git a/stack_master/config/NUC2/slam/f110_2d.lua b/stack_master/config/NUC2/slam/f110_2d.lua new file mode 100644 index 0000000..e751cf0 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_2d.lua @@ -0,0 +1,52 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 3.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.1 + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 100 +POSE_GRAPH.optimize_every_n_nodes = 20 + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0 +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0 + +return options diff --git a/stack_master/config/NUC2/slam/f110_2d_loc.lua b/stack_master/config/NUC2/slam/f110_2d_loc.lua new file mode 100644 index 0000000..8f2c6a1 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_2d_loc.lua @@ -0,0 +1,60 @@ +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", --Change to "odom" for REP105 compliance (but worse performance) + odom_frame = "odom", + provide_odom_frame = false, + use_odometry = true, + use_nav_sat = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 0.5, + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + publish_to_tf = true, + use_landmarks = false, + publish_tracked_pose = true, + publish_frame_projected_to_2d = true, + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true +MAP_BUILDER.use_trajectory_builder_3d = false +MAP_BUILDER.num_background_threads = 4.0 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.max_range = 25.0 +TRAJECTORY_BUILDER_2D.min_range = 0.05 +TRAJECTORY_BUILDER.pure_localization_trimmer = { + max_submaps_to_keep = 5, +} + +-- might be able to optimize these parameters +-- see: http://google-cartographer-ros.readthedocs.io/en/latest/tuning.html +TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80 +POSE_GRAPH.optimize_every_n_nodes = 5 +POSE_GRAPH.global_sampling_ratio = 0.05 +POSE_GRAPH.constraint_builder.sampling_ratio = 0.05 + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight + +TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 0.2 * TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight + +POSE_GRAPH.optimization_problem.odometry_rotation_weight = 0 +POSE_GRAPH.optimization_problem.odometry_translation_weight = 0 +--POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight = 1.25 * POSE_GRAPH.optimization_problem.local_slam_pose_rotation_weight + + +return options + diff --git a/stack_master/config/NUC2/slam/f110_description/CMakeLists.txt b/stack_master/config/NUC2/slam/f110_description/CMakeLists.txt new file mode 100755 index 0000000..1ef2615 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/CMakeLists.txt @@ -0,0 +1,181 @@ +cmake_minimum_required(VERSION 2.8.3) +project(f110_description) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES racecar_description +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) + +## Declare a C++ library +# add_library(racecar_description +# src/${PROJECT_NAME}/racecar_description.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(racecar_description ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(racecar_description_node src/racecar_description_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(racecar_description_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(racecar_description_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS racecar_description racecar_description_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_racecar_description.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/stack_master/config/NUC2/slam/f110_description/meshes/chassis.STL b/stack_master/config/NUC2/slam/f110_description/meshes/chassis.STL new file mode 100755 index 0000000..08b269e Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/meshes/chassis.STL differ diff --git a/stack_master/config/NUC2/slam/f110_description/meshes/chassis.dae b/stack_master/config/NUC2/slam/f110_description/meshes/chassis.dae new file mode 100755 index 0000000..0ac16c7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/meshes/chassis.dae @@ -0,0 +1,68 @@ + + + + + VCGLab + VCGLib | MeshLab + + Tue Jan 19 19:50:44 2016 GMT + Tue Jan 19 19:50:44 2016 GMT + Y_UP + + + + + + -0.0384776 -0.0776537 0.03 -0.0276537 0.0884776 0.03 0.255 -0.07 0.03 0.242654 -0.0884776 0.03 0.363478 0.0476537 0.03 0.249142 0.0841421 0.03 0.242654 0.0884776 0.03 0.345 0.06 0.03 0.255 -0.06 0.03 0.345 -0.06 0.03 0.352654 -0.0584776 0.03 0.352654 -0.0584776 -0.03 0.345 -0.06 -0.03 0.363478 0.0476537 -0.03 -0.02 0.09 -0.03 0.255 -0.06 -0.03 -0.0384776 0.0776537 -0.03 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + 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model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.config new file mode 100755 index 0000000..7ef2b4a --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.config @@ -0,0 +1,17 @@ + + Marker1 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.sdf new file mode 100755 index 0000000..3155a67 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker1/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker1/meshes/Marker1.dae + 0.1 0.1 0.1 + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png new file mode 100755 index 0000000..2a203ef Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/materials/textures/Marker10.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae new file mode 100755 index 0000000..98a2b82 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/meshes/Marker10.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker10.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 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model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.config new file mode 100755 index 0000000..2f33aaa --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.config @@ -0,0 +1,17 @@ + + Marker10 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.sdf new file mode 100755 index 0000000..b3411e6 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker10/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker10/meshes/Marker10.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png new file mode 100755 index 0000000..2303c36 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/materials/textures/Marker11.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae new file mode 100755 index 0000000..e575966 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/meshes/Marker11.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.config new file mode 100755 index 0000000..d3a850b --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.config @@ -0,0 +1,17 @@ + + Marker11 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.sdf new file mode 100755 index 0000000..cf63a96 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker11/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker11/meshes/Marker11.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png new file mode 100755 index 0000000..704b9bb Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/materials/textures/Marker12.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae new file mode 100755 index 0000000..95674a9 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/meshes/Marker12.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.config new file mode 100755 index 0000000..6938798 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.config @@ -0,0 +1,17 @@ + + Marker12 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.sdf new file mode 100755 index 0000000..689af0c --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker12/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker12/meshes/Marker12.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png new file mode 100755 index 0000000..79a7b32 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/materials/textures/Marker13.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae new file mode 100755 index 0000000..bf0a650 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/meshes/Marker13.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.config new file mode 100755 index 0000000..982712d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.config @@ -0,0 +1,17 @@ + + Marker13 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.sdf new file mode 100755 index 0000000..4df884a --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker13/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker13/meshes/Marker13.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png new file mode 100755 index 0000000..3337cda Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/materials/textures/Marker14.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae new file mode 100755 index 0000000..71cee4b --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/meshes/Marker14.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.config new file mode 100755 index 0000000..a247db7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.config @@ -0,0 +1,17 @@ + + Marker14 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.sdf new file mode 100755 index 0000000..8d512f7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker14/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker14/meshes/Marker14.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png new file mode 100755 index 0000000..df61cc7 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/materials/textures/Marker15.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae new file mode 100755 index 0000000..4100937 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/meshes/Marker15.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.config new file mode 100755 index 0000000..6cfc9fe --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.config @@ -0,0 +1,17 @@ + + Marker15 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.sdf new file mode 100755 index 0000000..3da547f --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker15/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker15/meshes/Marker15.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png new file mode 100755 index 0000000..84cea70 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/materials/textures/Marker16.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae new file mode 100755 index 0000000..e309ae9 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/meshes/Marker16.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.config new file mode 100755 index 0000000..7e7ffb7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.config @@ -0,0 +1,17 @@ + + Marker16 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.sdf new file mode 100755 index 0000000..629d5a3 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker16/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker16/meshes/Marker16.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png new file mode 100755 index 0000000..8ca4a9d Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/materials/textures/Marker17.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae new file mode 100755 index 0000000..c5fd548 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/meshes/Marker17.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 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model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.config new file mode 100755 index 0000000..00af1b1 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.config @@ -0,0 +1,17 @@ + + Marker17 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.sdf new file mode 100755 index 0000000..48d7ab4 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker17/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker17/meshes/Marker17.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png new file mode 100755 index 0000000..d2cb1ea Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/materials/textures/Marker2.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae new file mode 100755 index 0000000..ecdc879 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/meshes/Marker2.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 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model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.config new file mode 100755 index 0000000..fa54371 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.config @@ -0,0 +1,17 @@ + + Marker2 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.sdf new file mode 100755 index 0000000..21e4a9b --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker2/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker2/meshes/Marker2.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png new file mode 100755 index 0000000..05a3281 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/materials/textures/Marker3.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae new file mode 100755 index 0000000..27855f8 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/meshes/Marker3.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker3/meshes/Marker3.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.config new file mode 100755 index 0000000..047cf17 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.config @@ -0,0 +1,17 @@ + + Marker3 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.sdf new file mode 100755 index 0000000..fe58f24 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker3/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png new file mode 100755 index 0000000..bc7830b Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/materials/textures/Marker4.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae new file mode 100755 index 0000000..58d0649 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/meshes/Marker4.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker4/meshes/Marker4.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.config new file mode 100755 index 0000000..2e9fd7e --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.config @@ -0,0 +1,17 @@ + + Marker4 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.sdf new file mode 100755 index 0000000..cc4d203 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker4/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + 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1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png new file mode 100755 index 0000000..5d3113c Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/materials/textures/Marker5.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae new file mode 100755 index 0000000..67f2252 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/meshes/Marker5.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.config new file mode 100755 index 0000000..0f0e870 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.config @@ -0,0 +1,17 @@ + + Marker5 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.sdf new file mode 100755 index 0000000..07db97d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker5/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker5/meshes/Marker5.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png new file mode 100755 index 0000000..cb00f15 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/materials/textures/Marker6.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae new file mode 100755 index 0000000..956fb0c --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/meshes/Marker6.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker6.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 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model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.config new file mode 100755 index 0000000..c4f59c6 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.config @@ -0,0 +1,17 @@ + + Marker6 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.sdf new file mode 100755 index 0000000..6aa9902 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker6/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker6/meshes/Marker6.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png new file mode 100755 index 0000000..41ddc8b Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/materials/textures/Marker7.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae new file mode 100755 index 0000000..f486fbf --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/meshes/Marker7.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.config new file mode 100755 index 0000000..b4af58e --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.config @@ -0,0 +1,17 @@ + + Marker7 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.sdf new file mode 100755 index 0000000..cb6db5f --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker7/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker7/meshes/Marker7.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png new file mode 100755 index 0000000..dec84a2 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/materials/textures/Marker8.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae new file mode 100755 index 0000000..0ec7bf6 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/meshes/Marker8.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 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3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf new file mode 100755 index 0000000..8f15643 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf new file mode 100755 index 0000000..cb4f7b6 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.config new file mode 100755 index 0000000..317baae --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.config @@ -0,0 +1,17 @@ + + Marker8 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.sdf new file mode 100755 index 0000000..12ab587 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker8/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker8/meshes/Marker8.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf new file mode 100755 index 0000000..43a6f7d --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model-1_5.sdf @@ -0,0 +1,15 @@ + + + + true + + + + + model://marker0/meshes/Marker0.dae + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model.config new file mode 100755 index 0000000..ba97dab --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/marker0/model.config @@ -0,0 +1,19 @@ + + + + Marker0 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png new file mode 100755 index 0000000..358cb97 Binary files /dev/null and b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/materials/textures/Marker9.png differ diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae new file mode 100755 index 0000000..dedced0 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/meshes/Marker9.dae @@ -0,0 +1,125 @@ + + + + Blender User + Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0 + + 2015-04-05T02:03:25 + 2015-04-05T02:03:25 + + Z_UP + + + + Marker9.png + + + + + + + + Marker0_png + + + + + Marker0_png-surface + + + + + + 0 0 0 1 + + + 0.9 0.9 0.9 1 + + + + + + 0.5 0.5 0.5 1 + + + 50 + + + 1 + + + + + + + + + + + + + + + + 1 0.9999999 -9.41753e-6 1 -1 -9.41753e-6 -1 -0.9999998 -9.41753e-6 -0.9999997 1 -9.41753e-6 1 0.9999994 1.999991 0.9999994 -1.000001 1.999991 -1 -0.9999997 1.999991 -0.9999999 1 1.999991 + + + + + + + + + + 0 0 -1 0 0 1 1 -5.66244e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.38419e-7 1 1.78814e-7 0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -2.98023e-7 -1 2.38419e-7 0 2.98023e-7 1 2.38418e-7 + + + + + + + + + + 0 0 0 0 0 0 0 0 0 0 0 0 0.9999 0.9940189 9.96856e-5 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 9.96856e-5 0.9940191 9.98823e-5 9.96856e-5 0.9999004 9.98429e-5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.9999004 9.96856e-5 0.9999 0.9940189 1.00079e-4 9.97642e-5 0 0 0 0 0 0 0.9999004 0.9940191 9.96856e-5 0.9940191 0.9999004 9.98429e-5 0 0 0 0 0 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 0 1 0 1 2 0 2 7 1 3 6 1 4 5 1 5 4 2 6 5 2 7 1 2 8 5 3 9 6 3 10 2 3 11 2 4 12 6 4 13 7 4 14 0 5 15 3 5 16 7 5 17 3 6 18 0 6 19 2 6 20 4 7 21 7 7 22 5 7 23 0 8 24 4 8 25 1 8 26 1 9 27 5 9 28 2 9 29 3 10 30 2 10 31 7 10 32 4 11 33 0 11 34 7 11 35

+ + + + + + + + + 0.004999998 0 0 0 0 0.2499999 0 0 0 0 0.25 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf new file mode 100755 index 0000000..875f1f1 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_4.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf new file mode 100755 index 0000000..e6adfe5 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model-1_5.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.config b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.config new file mode 100755 index 0000000..4daf6ea --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.config @@ -0,0 +1,17 @@ + + Marker9 + 1.0 + model.sdf + model-1_5.sdf + model-1_4.sdf + + + Mikael Arguedas + mikael.arguedas@gmail.com + + + + A model of AR marker + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.sdf new file mode 100755 index 0000000..ec27065 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/ar_tags/marker9/model.sdf @@ -0,0 +1,14 @@ + + + true + + + + + model://racecar_description/models/ar_tags/marker9/meshes/Marker9.dae + 0.1 0.1 0.1 + + + + + \ No newline at end of file diff --git a/stack_master/config/NUC2/slam/f110_description/models/cone/model.config b/stack_master/config/NUC2/slam/f110_description/models/cone/model.config new file mode 100755 index 0000000..9baefb6 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/cone/model.config @@ -0,0 +1,7 @@ + + + cone + 1.0 + model.sdf + A bright orange cone + diff --git a/stack_master/config/NUC2/slam/f110_description/models/cone/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/cone/model.sdf new file mode 100755 index 0000000..e5875eb --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/cone/model.sdf @@ -0,0 +1,27 @@ + + + + + + + + model://racecar_description/meshes/cone.dae + + + + + + + model://racecar_description/meshes/cone.dae + + + + 1 0.2 0 1 + 1 0.2 0 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.config b/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.sdf new file mode 100755 index 0000000..e1da33e --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/parking_1/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + + + model://racecar_description/meshes/parking_1.dae + + + + + 1 + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.config b/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.config new file mode 100755 index 0000000..f363ff7 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.config @@ -0,0 +1,10 @@ + + + walker_racecourse + 1.0 + model.sdf + + Owen Guldner + owen.guldner@ll.mit.edu + + diff --git a/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.sdf b/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.sdf new file mode 100755 index 0000000..18d303b --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/models/walker_racecourse/model.sdf @@ -0,0 +1,22 @@ + + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + + + model://racecar_description/meshes/walker_racecourse.dae + + + + + 1 + + diff --git a/stack_master/config/NUC2/slam/f110_description/package.xml b/stack_master/config/NUC2/slam/f110_description/package.xml new file mode 100755 index 0000000..f0b5eff --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/package.xml @@ -0,0 +1,49 @@ + + + f110_description + 0.0.0 + The racecar_description package + + + + + ubuntu + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/urdf/F110.xacro b/stack_master/config/NUC2/slam/f110_description/urdf/F110.xacro new file mode 100644 index 0000000..c8d1b61 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/urdf/F110.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/urdf/macros.xacro b/stack_master/config/NUC2/slam/f110_description/urdf/macros.xacro new file mode 100755 index 0000000..73d4f94 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/urdf/macros.xacro @@ -0,0 +1,141 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + + + EffortJointInterface + 1 + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/urdf/materials.xacro b/stack_master/config/NUC2/slam/f110_description/urdf/materials.xacro new file mode 100755 index 0000000..49f4bc1 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/urdf/materials.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/urdf/racecar.gazebo b/stack_master/config/NUC2/slam/f110_description/urdf/racecar.gazebo new file mode 100755 index 0000000..ab4ff78 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/urdf/racecar.gazebo @@ -0,0 +1,135 @@ + + + + + + + + + + + Gazebo/Blue + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + + + Gazebo/Black + + + + + + + /racecar + gazebo_ros_control/DefaultRobotHWSim + + + + + + + Gazebo/Grey + + 0 0 0.0124 0 0 0 + true + 40 + + + + 1081 + 1 + -2.3561944902 + 2.3561944902 + + + + 0.1 + 10.0 + 0.01 + + + 0.0 + 0.01 + + + + /scan + laser + + + + + + + + + + 30.0 + + + 0.8709216071359963 + + 640 + 480 + B8G8R8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 30.0 + /camera/zed + rgb/image_rect_color + rgb/camera_info + camera_link + 0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + diff --git a/stack_master/config/NUC2/slam/f110_description/urdf/racecar.xacro b/stack_master/config/NUC2/slam/f110_description/urdf/racecar.xacro new file mode 100755 index 0000000..2c25e89 --- /dev/null +++ b/stack_master/config/NUC2/slam/f110_description/urdf/racecar.xacro @@ -0,0 +1,274 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + robot + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/static_transforms.launch.xml b/stack_master/config/NUC2/static_transforms.launch.xml new file mode 100644 index 0000000..6efaa89 --- /dev/null +++ b/stack_master/config/NUC2/static_transforms.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/vesc.launch.xml b/stack_master/config/NUC2/vesc.launch.xml new file mode 100644 index 0000000..68f2257 --- /dev/null +++ b/stack_master/config/NUC2/vesc.launch.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/config/NUC2/vesc.yaml b/stack_master/config/NUC2/vesc.yaml new file mode 100644 index 0000000..9bf9f1c --- /dev/null +++ b/stack_master/config/NUC2/vesc.yaml @@ -0,0 +1,60 @@ + +# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset +#4614 +speed_to_erpm_gain: 4352 +speed_to_erpm_offset: 220.0 + +tachometer_ticks_to_meters_gain: 0.00225 + +# servo smoother - limits rotation speed and smooths anything above limit +max_servo_speed: 3.2 # radians/second +servo_smoother_rate: 75.0 # messages/sec +servo_timeout: 0.1 # (stop publishing after inactive for) s + +# motor rpm smoother - limits acceleration and smooths anything above limit +# not used when sending current commands +max_acceleration: 2.5 # meters/second^2 +throttle_smoother_rate: 75.0 # messages/sec +motor_timeout: 0.1 # (stop publishing after inactive for) s + +# motor current smoother - limits current and filters with time constant +max_accel_current: 65 #A +max_brake_current: 50 #A () +current_time_constant: 0.05 #s +current_smoother_rate: 100.0 # messages/sec +current_timeout: 0.1 # s for correct interpolation the controller must publish at frequency higher than 1/this + +# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset +#-1.2135 +steering_angle_to_servo_gain: -1.1 # obtained 03.02.2023 +steering_angle_to_servo_offset: 0.495 # obtained 03.02.2023 +# steering_angle_to_servo_offset: 0.445 # obtained 19.02.2023 + +#offset johnny 0.417 +#0.5304 + +# current (A, 0 - 100) = gain * acceleration (m/s2) + gain * velocity +acceleration_to_current_gain: 8.938 +deceleration_to_current_gain: 5.936 +velocity_to_current_gain: 3.693 + +# publish odom to base link tf +vesc_to_odom/publish_tf: false + +# car wheelbase is about 25cm +wheelbase: 0.321 + +vesc_driver: + port: /dev/sensors/vesc + duty_cycle_min: 0.0 + duty_cycle_max: 0.0 + current_min: 0.0 + current_max: 100.0 + brake_min: -20000.0 + brake_max: 200000.0 + speed_min: -69000 + speed_max: 69000 + position_min: 0.0 + position_max: 0.0 + servo_min: 0.15 + servo_max: 0.85 diff --git a/stack_master/config/NUC2/vesc_new.yaml b/stack_master/config/NUC2/vesc_new.yaml new file mode 100644 index 0000000..49f8ded --- /dev/null +++ b/stack_master/config/NUC2/vesc_new.yaml @@ -0,0 +1,50 @@ + +# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset +speed_to_erpm_gain: 4614 +speed_to_erpm_offset: 0.0 + +tachometer_ticks_to_meters_gain: 0.00225 + +# servo smoother - limits rotation speed and smooths anything above limit +max_servo_speed: 3.2 # radians/second +servo_smoother_rate: 75.0 # messages/sec +servo_timeout: 0.1 # (stop publishing after inactive for) s + +# motor rpm smoother - limits acceleration and smooths anything above limit +# not used when sending current commands +max_acceleration: 2.5 # meters/second^2 +throttle_smoother_rate: 75.0 # messages/sec +motor_timeout: 0.1 # (stop publishing after inactive for) s + +# motor current smoother - limits current and filters with time constant +max_accel_current: 65 #A +max_brake_current: 50 #A () +current_time_constant: 0.05 #s +current_smoother_rate: 100.0 # messages/sec +current_timeout: 0.1 # s for correct interpolation the controller must publish at frequency higher than 1/this + +# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset +steering_angle_to_servo_gain: -1.2135 +#steering_angle_to_servo_offset: 0.5304 +steering_angle_to_servo_offset: 0.5 + +# publish odom to base link tf +vesc_to_odom/publish_tf: false + +# car wheelbase is about 25cm +wheelbase: .25 + +vesc_driver: + port: /dev/ttyACM1 + duty_cycle_min: 0.0 + duty_cycle_max: 0.5 + current_min: 0.0 + current_max: 100.0 + brake_min: -20000.0 + brake_max: 200000.0 + speed_min: -33250 + speed_max: 33250 + position_min: 0.0 + position_max: 0.0 + servo_min: 0.15 + servo_max: 0.85 diff --git a/stack_master/config/README.md b/stack_master/config/README.md new file mode 100644 index 0000000..9d6d2a3 --- /dev/null +++ b/stack_master/config/README.md @@ -0,0 +1,90 @@ +# Config +The config folder is your one stop shop for all the parameters attached to your specific car. E.g. every car will have it's own specific servo steering offset and so on based on the physical hardware. So all parameters are saved in the `config` folder. + +## Create a new car +We provide some examples [`Jet1`, `NUC2`, `SIM`] which you can copy and name it after your car and then tune your parameters as desired. The `SIM` car refers to the tire dynamics etc of the car used in the simulator. Typically the following parameters are necessary to be adjusted: +- `config/NAME_OF_CAR/vesc.yaml`, for tuning follow the following guide from [MuSHR](https://mushr.io/tutorials/tuning/): + - `speed_to_erpm_gain`, this depends on your VESC PID tuning + - `speed_to_erpm_offset`, this depends on your VESC PID tuning + - `steering_angle_to_servo_offset`, this depends on your physical hardware + - `steering_angle_to_servo_gain`, this depends on your physical hardware + +- `config/NAME_OF_CAR/static_transforms.launch.xml`, When mounting the hardware it is good to remasure if all static transforms are correct +- `config/NAME_OF_CAR/slam/f110_2d_loc.lua`, this defines the specific slam parameters to be used for each car, as each LiDAR is slightly different and the accuracy of your wheel odometry tuning. + - `TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight`, depends on the accuracy of your wheel odometry + - `TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight`, depends on the accuracy of your wheel odometry + - `MAP_BUILDER.num_background_threads`, depends on your compute power + - `TRAJECTORY_BUILDER_2D.submaps.num_range_data = 80`, this depends on your computer's computational power + - `POSE_GRAPH.optimize_every_n_nodes = 5`, this depends on your computer's computational power + +## MAP Controller +The MAP controller can be found in `/race_stack/controller/map/src/MAP_Controller.py`, the tuning Parameters differ from car to car and can be tuned using dynamic reconfigure. It is not necessary to tune these parameters as the default values should work on every track. However by tweaking the values to a specific track a slightly better performance can be achieved. It is also necessary to perform the tuning when a car is modified heavily (suspension, tires, weight) or when driving on a new car. +### Parameter description + + - MAP distance parameters + - `t_clip_min`: minimum l1 distance + - `t_clip_max`: maximum l1 distance + - `m_l1`: slope l1/velocity relation + - `q_l1`: intercept of l1/velocity relation + ![MAP distance Parameters](../checklists/img/l1_dist.png) + + - Forward propagation for the speed lookup: + - `speed_lookahead`: time [s] of forward propagation with constant velocity + - Forward propagation for the steering angle + - `speed_lookahead_for_steer`: time [s] of forward propagation with constant velocity for the location used for the steer (MAP) + - the acceleration scalers, for accounting for load shift in acc/braking, increase/decrease the steering angle by a factor + - `acc_scaler_for_steer` + - `dec_scaler_for_steer` + + - the coefficient to account for lateral error when doing speed control + - `lat_err_coeff`: 0 means no account for lateral error, 1 means maximum accounting + - scalers for high speed + - `start_scale_speed`: up to this speed the steer is normal + - `end_scale_speed`: from this speed on the steer is scaled by 1 - `downscale_factor` and in between it linearly decreases down + - `downscale_factor`: speed is reduced by this factor + +![High Speed Steer-Scaling](../checklists/img/speed_scaling.png) + + ### Tuning Procedure +1. MAP distance Parameters for new car/components (should not be necessary on raceday) + + Set up a track where the car can safely drive up to $4$ m/s (no sharp corners). Map the track and start a time trials session with the driving speed to constant $2$ m/s. Set `m_l1` and `q_l1` to zero and `t_clip_max` to a high number. With that we make sure, that the L1 distance is kept constant at the value of `t_clip_min`. + + While driving slowly increase `t_clip_min` until the car doesn't oscillate anymore. Save this number for later as $D_2$. + + Now set the driving speed to $4$ m/s and repeat the same process. Save the number set in `t_clip_min` as $D_4$. + + With these two datapoints gathered, we will interpolate to get the linear function representing the l1/velocity relation. It is possible to repeat the process with different velocities if necessary. + + The parameters can be set as follows: + + - `t_clip_max` = $5$ (the car should never look ahead more than 5 meters) + - `m_l1` = $\frac{D_4-D_2}{2}$ + - `q_l1` = $D_2 - 2*$ `m_l1` + - `t_clip_min` = $D_2 - 1*$ `m_l1` (as the car will never drive slower than 1 m/s) + +2. MAP distance Parameters at the Race + + Start out with the set parameters found with the process described in (1) + + `t_clip_min` and `t_clip_max` should not be changed unless the track is extremely fast or slow. + If the car tends to cut corners decrease `q_l1` and/or `m_l1`, if it oscillates increase them. + Proven good values are `m_l1 = 0.5`, `q_l1 = 0.2` + +3. Scalers for high speeds + + These could be tuned by driving the same track/corners at higher and higher constant speeds and and setting `start_scale_speed` to the point where the car starts to turn to much for it's velocity. And lower the steering from that velocity onward by `downscale_factor`. However this is probably not necessary to do. + +4. Accelerating scaler + + For `acc_scaler_for_steer` and `dec_scaler_for_steer` start out with both values at $1$ + + Increase the `acc_scaler_for_steer` slowly, looking at the laptime and average/max lateral error. Increase until the values stop improving or you see the car skidding. It is generally good to keep the values in the range $[1,1.5]$ + + Keep the `acc_scaler_for_steer` at the found value and slowly decrease `dec_scaler_for_steer`, looking at the laptime and average/max lateral error. Decrease until the values stop improving. It is generally good to keep the values in the range $[0.7,1]$ + +5. `speed_lookahead` is normally set at $0.25$, this should work. If you need to tune it, it should be kept in the range $[0,0.5]$. With larger values the car tracks better, but the laptime gets slower. + +6. To tune the `lat_err_coeff`, set up some obstacles on the track and start a head to head session. Make sure to activate overtaking on all sectors. Starting with a value of 1 slowly decrease the value as long as the laptime gets faster and the car can still overtake safely. +7. `speed_lookahead_for_steer` can be increased to make the car cut corners to increse laptime. This can get very dangerous fast. Slowly increase the value while looking at how close the car is to corners. Keep this in the range $[0,0.2]$, $0.05$ is probably realistic. + diff --git a/stack_master/config/SIM/BO_ranges.yaml b/stack_master/config/SIM/BO_ranges.yaml new file mode 100644 index 0000000..e85fea3 --- /dev/null +++ b/stack_master/config/SIM/BO_ranges.yaml @@ -0,0 +1,15 @@ + +l1_param: + t_clip_min: + lower_bound: 0.1 + upper_bound: 0.2 # 1.0 to enforce bad laps for debugging + m_l1: + lower_bound: 0.05 + upper_bound: 0.4 + q_l1: + lower_bound: -1.0 + upper_bound: 1.0 +sector: + lower_bound: 0.8 + upper_bound: 1.0 + diff --git a/stack_master/config/SIM/SIM_linear.yaml b/stack_master/config/SIM/SIM_linear.yaml new file mode 100644 index 0000000..51c5b8e --- /dev/null +++ b/stack_master/config/SIM/SIM_linear.yaml @@ -0,0 +1,19 @@ +C_0d: 0.4769777665344132 +C_R: 3.693303119695026 +C_Sf: 3.70776089172916 +C_Sr: 14.917278165744078 +C_acc: 7.135521073243542 +C_d: -0.8555709456247437 +C_dec: 0.555393889733246 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC1 +mu: 1 +tau_steer: 0.15779476 +tire_model: linear diff --git a/stack_master/config/SIM/SIM_pacejka.yaml b/stack_master/config/SIM/SIM_pacejka.yaml new file mode 100644 index 0000000..c1e204f --- /dev/null +++ b/stack_master/config/SIM/SIM_pacejka.yaml @@ -0,0 +1,27 @@ +C_0d: 0.41117415569890003 +C_Pf: +- 4.47161357602916 +- 0.1320293068694414 +- 12.267008918241816 +- 1.5562751013900538 +C_Pr: +- 9.999999999999812 +- 1.4999999999992566 +- 1.3200250015860229 +- 1.0999999999999999 +C_R: 3.693303119695026 +C_acc: 7.135521073243542 +C_d: -0.8390993957160475 +C_dec: 5.935972263881579 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC1 +mu: 1 +tire_model: pacejka +tau_steer: 0.15779476 diff --git a/stack_master/config/SIM/l1_params.yaml b/stack_master/config/SIM/l1_params.yaml new file mode 100644 index 0000000..0ab88c6 --- /dev/null +++ b/stack_master/config/SIM/l1_params.yaml @@ -0,0 +1,25 @@ +## L1 Controller Parameters (Lateral Control) +t_clip_min: 1 +t_clip_max: 5 +m_l1: 0.3 +q_l1: 0.15 +speed_lookahead: 0 +lat_err_coeff: 1 +acc_scaler_for_steer: 1.0 +dec_scaler_for_steer: 1.0 +start_scale_speed: 7.0 +end_scale_speed: 8.0 +downscale_factor: 0.2 +speed_lookahead_for_steer: 0 # safe/agg 0/0 # increasing this to 0.20 AT MOST can make the car faster on the laptime but cut more corners + + + + +## Trailing Controller Parameters +prioritize_dyn: True + +trailing_gap: 1.5 # Distance in meters or gap in seconds, depending on mode +trailing_p_gain: 0.5 +trailing_i_gain: 0.001 +trailing_d_gain: 0.2 +blind_trailing_speed: 1.5 \ No newline at end of file diff --git a/stack_master/config/gb_optimizer/racecar_f110.ini b/stack_master/config/gb_optimizer/racecar_f110.ini new file mode 100644 index 0000000..8ed9921 --- /dev/null +++ b/stack_master/config/gb_optimizer/racecar_f110.ini @@ -0,0 +1,282 @@ +# ---------------------------------------------------------------------------------------------------------------------- +[GENERAL_OPTIONS] + +### set name of ggv diagram and ax_max_machines files to use +ggv_file="ggv.csv" +ax_max_machines_file="ax_max_machines.csv" + + +### stepsize options +# stepsize_prep: [m] used for linear interpolation before spline approximation --> Initial Stepsize on the tracks +# stepsize_reg: [m] used for spline interpolation after spline approximation (stepsize during opt.) --> # Number of normals on the track +# stepsize_interp_after_opt: [m] used for spline interpolation after optimization + +stepsize_opts={"stepsize_prep": 0.05, + "stepsize_reg": 0.2, + "stepsize_interp_after_opt": 0.1} + +### spline regression smooth options +# k_reg: [-] order of B-Splines -> standard: 3 +# s_reg: [-] smoothing factor, range [1.0, 100.0] + +reg_smooth_opts={"k_reg": 3, + "s_reg": 1} + +### preview and review distances for numerical curvature calculation (used in minimum time optimization) +# d_preview_curv: [m] preview distance (curvature) +# d_review_curv: [m] review distance (curvature) +# d_preview_head: [m] preview distance (heading) +# d_review_head: [m] review distance (heading) + +curv_calc_opts = {"d_preview_curv": 2.0, + "d_review_curv": 2.0, + "d_preview_head": 1.0, + "d_review_head": 1.0} + +### general vehicle parameters required in several functions +# v_max: [m/s] maximal vehicle speed +# length: [m] vehicle length +# width: [m] vehicle width +# mass: [kg] vehiclemass +# dragcoeff: [kg*m2/m3] drag coefficient calculated by 0.5 * rho_air * c_w * A_front +# curvlim: [rad/m] curvature limit of the vehicle +# g: [N/kg] gravity acceleration + +veh_params = {"v_max":15.0, + "length": 0.535, + "width": 0.30, + "mass": 3.518, + "dragcoeff": 0.0136, + "curvlim": 1.0, + "g": 9.81} + +### velocity profile calculation options +# dyn_model_exp: [-] exponent used in the vehicle dynamics model (range [1.0, 2.0]) +# vel_profile_conv_filt_window: [-] moving average filter window size for velocity profile (set null if not used) + +vel_calc_opts = {"dyn_model_exp": 1.0, + "vel_profile_conv_filt_window": null} + +# ---------------------------------------------------------------------------------------------------------------------- +[OPTIMIZATION_OPTIONS] + +### optimization problem options (shortest path optimization) ---------------------------------------------------------- +# width_opt: [m] vehicle width for optimization including safety distance + +optim_opts_shortest_path={"width_opt": 1.20} + +### optimization problem options (minimum curvature optimization) ------------------------------------------------------ +# width_opt: [m] vehicle width for optimization including safety distance +# iqp_iters_min: [-] minimum number of iterations for the IQP +# iqp_curverror_allowed: [rad/m] maximum allowed curvature error for the IQP + +optim_opts_mincurv={"width_opt": 0.8, + "iqp_iters_min": 5, + "iqp_curverror_allowed": 0.1} + +### optimization problem options (minimum lap time optimization) ------------------------------------------------------- +# width_opt: [m] vehicle width for optimization including safety distance +# penalty_delta: [-] penalty of delta derivative for improved smoothness of controls (range [0.0, 50.0]) +# penalty_F: [-] penalty of F derivative for improved smoothness of controls (range [0.0, 2.0]) +# mue: [-] constant friction coefficient (determines tire's D parameter of MF by D = F_z * mue) +# n_gauss [-] number of gaussian basis functions on each side (var_friction: "gauss") +# dn [m] distance of equidistant points on normal vectors for extracting friction + # coefficients (var_friction: "linear" or "gauss") +# limit_energy: [true/false] limit energy consumption +# energy_limit: [kWh/lap] energy consumption limit (limit_energy: true) +# safe_traj: [true/false] safe trajectories -> limit accelerations +# ax_pos_safe: [m/s2] a_x+ limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# ax_neg_safe: [m/s2] a_x- limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# ay_safe: [m/s2] a_y limit for safe trajectories (safe_traj: true) -> null if ggv should be used +# w_tr_reopt: [m] total track width in case of reoptimization using the IQP +# w_veh_reopt: [m] vehicle width in case of reoptimization using the IQP +# w_add_spl_regr: [m] width added in case of reoptimization to compensate second spline regression +# step_non_reg: [-] defines how many points to be skipped per step during non-regular point sampling +# (dependent on curvature) +# eps_kappa: [rad/m] curvature threshold to skip discretization points on straights (if +# step_non_reg > 0) + +optim_opts_mintime={"width_opt": 0.8, + "penalty_delta": 1.0, + "penalty_F": 0.1, + "mue": 1.0, + "n_gauss": 5, + "dn": 0.025, + "limit_energy": false, + "energy_limit": 2.0, + "safe_traj": false, + "ax_pos_safe": null, + "ax_neg_safe": null, + "ay_safe": null, + "w_tr_reopt": 1.0, + "w_veh_reopt": 0.8, + "w_add_spl_regr": 0.0, + "step_non_reg": 0, + "eps_kappa": 1e-3} + +### vehicle parameters (minimum lap time optimization) +# wheelbase_front: [m] wheelbase front +# wheelbase_rear: [m] wheelbase rear +# track_width_front: [m] track width front +# track_width_rear: [m] track width rear +# cog_z: [m] center of gravity +# I_z: [kgm^2] yaw inertia +# liftcoeff_front: [kg*m2/m3] lift coefficient front axle calculated by 0.5 * rho_air * c_l_f * A_spoiler_f +# liftcoeff_rear: [kg*m2/m3] lift coefficient rear axle calculated by 0.5 * rho_air * c_l_r * A_spoiler_r +# k_brake_front: [-] portion of braking force at the front axle of the total braking force +# k_drive_front: [-] portion of driving force at the front axle of the total driving force +# k_roll: [-] portion of roll moment at the front axle of the total roll moment +# t_delta: [s] time constant for steering dynamic +# t_drive: [s] time constant for acceleration dynamic +# t_brake: [s] time constant for braking dynamic +# power_max: [W] maximal engine power +# f_drive_max: [N] maximal drive force +# f_brake_max: [N] maximal brake force (only needed for actor dynamics) +# delta_max: [rad] maximal steer angle + +vehicle_params_mintime = {"wheelbase_front": 0.15875, + "wheelbase_rear": 0.17145, + "track_width_front": 0.281, + "track_width_rear": 0.281, + "cog_z": 0.074, + "I_z": 0.04712, + "liftcoeff_front": 0.001, + "liftcoeff_rear": 0.0015, + "k_brake_front": 0.5, + "k_drive_front": 0.0, + "k_roll": 0.5, + "t_delta": 0.1, + "t_drive": 0.1, + "t_brake": 0.1, + "power_max": 267, + "f_drive_max": 33.4, + "f_brake_max": 47.4, + "delta_max": 0.34} + +### tire parameters (minimum lap time optimization) +# c_roll: [-] rolling resistance coefficient +# f_z0: [N] nominal normal force +# B_front: [-] Coefficient B for front tire +# C_front: [-] Coefficient C for front tire +# eps_front: [-] load dependence of Coefficient D for front tire +# E_front: [-] Coefficient E for front tire +# B_rear: [-] Coefficient B for rear tire +# C_rear: [-] Coefficient C for rear tire +# eps_rear: [-] load dependence of Coefficient D for rear tire +# E_rear: [-] Coefficient E for rear tire +# Hint: The D parameter of the Magic Formula is determined by D = F_z * mue. mue can be set above in optim_opts_mintime! + +tire_params_mintime = {"c_roll": 0.010, + "f_z0": 8.6, + "B_front": 7.4, + "C_front": 1.2, + "eps_front": -0.1, + "E_front": 0.85, + "B_rear": 7.4, + "C_rear": 1.2, + "eps_rear": -0.1, + "E_rear": 0.85} + +### powertrain behavior (minimum lap time optimization) +# [1] Prof. Dr.-Ing. Markus Lienkamp, „Auslegung von Elektrofahrzeugen: Lecture slides,“ Unpublished manuscript, 2018 +# [2] F. P. Incropera, Fundamentals of heat and mass transfer, 6th ed., Hoboken NJ, John Wiley, 2007, ISBN: 9780471457282 +# [3] M. Grabowski, K. Urbaniec, J. Wernik and K. J. Wołosz, „Numerical simulation and experimental verification of heat transfer from a finned housing of an electric motor,“Energy Conversion and Management, vol. 125, pp. 91–96, 2016 +# [4] K. Li, S. Wang and J. P. Sullivan, „A novel thermal network for the maximum temperaturerise of hollow cylinder,“ Applied Thermal Engineering, vol. 52, no. 1, pp. 198–208, 2013 + +# pwr_behavior: [-] consider powertrain behavior +# simple_loss: [-] use simple loss models (fitted to measured data, input -- ouput power), +# currently the only available option. A future release will contain more detailed +# powertrain models based on Gaussian basis functions. +# T_env: [°C] temperature of environment +# T_mot_ini: [°C] initial temperature electric machines +# T_batt_ini: [°C] initial temperature battery +# T_inv_ini: [°C] initial temperature inverter +# T_cool_mi_ini: [°C] initial temperature cooling fluid machine and inverter +# T_cool_b_ini: [°C] initial temperature battery fluid +# r_wheel: [m] Wheel radius +# R_i_simple: [Ohm] internal resistance of simple battery model +# V_OC_simple: [V] Open Circuit Voltage of simple battery model +# SOC_ini: [-] initial SOC of battery +# C_batt: [kWh] Capacity of battery (spreadsheet) +# N_cells_serial: [-] Number of battery cells in series in battery pack +# N_cells_parallel: [-] Number of battery cells in parallel in battery pack +# temp_mot_max: [°C] max. allowed temperature of electric machines (spreadsheet) +# temp_batt_max: [°C] max. allowed temperature of battery (spreadsheet) +# temp_inv_max: [°C] max. allowed temperature of inverters [1, p 7.19] +# N_machines: [-] number of electric machines (spreadsheet) +# transmission: [-] gear transmission +# MotorConstant: [Nm/A] motor constant (linear dependency current and torque) +# C_therm_machine: [J/K] Absolute thermal capacity electric machine + # c_iro = 420 J/kgK; c_magnet = 460 J/kgK; m_machine = 18 kg (spreadsheet) + # -> C_therm_machine = 99 % * m_machine * c_iro + 1 % * m_machine * c_magnet +# C_therm_inv: [J/K] Absolute thermal capacity inverter (equal to that of motor) +# C_therm_cell: [J/K] Absolute thermal capacity battery pouch cell +# C_TempCopper: [1/°C] temperature coefficient copper in electric machine +# m_therm_fluid_mi [kg] mass of cooling fluid (machine inverter circuit) +# m_therm_fluid_b [kg] mass of cooling fluid (battery circuit) +# r_rotor_int: [m] radius rotor internal (spreadsheet) +# r_rotor_ext: [m] radius rotor external (spreadsheet) +# r_stator_int: [m] radius stator internal (spreadsheet) +# r_stator_ext: [m] radius stator external (spreadsheet) +# l_machine: [m] length electric machine (spreadsheet) +# A_cool_inflate_machine: [-] factor of which cooling surface of machine is bigger than raw outer surface +# A_cool_inv: [m^2] cooling area of inverter: length * width +# A_cool_rad: [m^2] cooling area of radiator [2, p 704] +# k_iro: [W/m^2K] thermal conductivity of iron [3] +# h_air: [W/m^2K] convective heat flux coefficient of radiator to air [1, p 9.95] +# h_air_gap: [W/m^2K] convective heat flux coefficient of machine air gap [4] +# h_fluid_mi: [W/m^2K] convective heat flux coefficient of cooling fluid machine + inverter [1, p 9.95] +# c_heat_fluid [J/kgK] specific heat capacity cooling fluid (similar to water) [2] +# flow_rate_inv [kg/s] flow rate of cooling fluid through inverters +# flow_rate_rad [kg/s] flow rate of cooling fluid through radiator (estimated from spreadsheet) +# machine_simple_a,b,c: [-] fitting coefficients (ax^2 + bx + c) of machine efficiency (input -- output power) +# inverter_fit_a,b,c [-] fitting coefficients (ax^2 + bx + c) of inverter efficiency (input -- output power) + +pwr_params_mintime = {"pwr_behavior": false, + "simple_loss": true, + "T_env": 30, + "T_mot_ini": 30, + "T_batt_ini": 30, + "T_inv_ini": 30, + "T_cool_mi_ini": 30, + "T_cool_b_ini": 30, + "r_wheel": 0.3, + "R_i_simple": 0.05, + "V_OC_simple": 700, + "SOC_ini": 0.4, + "C_batt": 41.0, + "N_cells_serial": 176, + "N_cells_parallel": 3, + "temp_mot_max": 170.0, + "temp_batt_max": 50.0, + "temp_inv_max": 100.0, + "N_machines": 2, + "transmission": 6.25, + "MotorConstant": 0.465, + "C_therm_machine": 7567.2, + "C_therm_inv": 7567.2, + "C_therm_cell": 824.0, + "C_TempCopper": 0.004041, + "m_therm_fluid_mi": 5, + "m_therm_fluid_b": 5, + "r_rotor_int": 0.03, + "r_rotor_ext": 0.087, + "r_stator_int": 0.088, + "r_stator_ext": 0.121, + "l_machine": 0.055, + "A_cool_inflate_machine": 3.0, + "A_cool_inv": 0.3969, + "A_cool_rad": 5.0, + "k_iro": 45.0, + "h_air": 50.0, + "h_air_gap": 60.0, + "h_fluid_mi": 5000.0, + "c_heat_fluid": 4181.0, + "flow_rate_inv": 0.2, + "flow_rate_rad": 0.2, + "machine_simple_a": -0.000027510784764, + "machine_simple_b": 1.046187222759047, + "machine_simple_c": 1.001964003837042, + "inverter_simple_a": -0.000707138661579, + "inverter_simple_b": 1.139958410466637, + "inverter_simple_c": 1.004970807882952} diff --git a/stack_master/config/gb_optimizer/veh_dyn_info/ax_max_machines.csv b/stack_master/config/gb_optimizer/veh_dyn_info/ax_max_machines.csv new file mode 100644 index 0000000..f9a0259 --- /dev/null +++ b/stack_master/config/gb_optimizer/veh_dyn_info/ax_max_machines.csv @@ -0,0 +1,62 @@ +#v_mps,ax_max_machines_mps2 +0.0,9.10935576152022 +0.25,8.97995725362624 +0.5,8.850558745732261 +0.75,8.721160237838284 +1.0,8.591761729944306 +1.25,8.462363222050326 +1.5,8.332964714156347 +1.75,8.203566206262368 +2.0,8.07416769836839 +2.25,7.944769190474411 +2.5,7.815370682580432 +2.75,7.685972174686453 +3.0,7.556573666792474 +3.25,7.427175158898495 +3.5,7.297776651004517 +3.75,7.168378143110537 +4.0,7.03897963521656 +4.25,6.90958112732258 +4.5,6.780182619428602 +4.75,6.650784111534623 +5.0,6.521385603640645 +5.25,6.391987095746665 +5.5,6.262588587852687 +5.75,6.133190079958707 +6.0,6.003791572064729 +6.25,5.87439306417075 +6.5,5.744994556276771 +6.75,5.615596048382792 +7.0,5.4861975404888135 +7.25,5.356799032594835 +7.5,5.2274005247008555 +7.75,5.098002016806878 +8.0,4.968603508912898 +8.25,4.83920500101892 +8.5,4.709806493124941 +8.75,4.580407985230962 +9.0,4.451009477336983 +9.25,4.321610969443004 +9.5,4.192212461549026 +9.75,4.062813953655047 +10.0,3.933415445761068 +10.25,3.804016937867089 +10.5,3.67461842997311 +10.75,3.545219922079131 +11.0,3.415821414185153 +11.25,3.286422906291174 +11.5,3.157024398397195 +11.75,3.027625890503216 +12.0,2.898227382609237 +12.25,2.768828874715258 +12.5,2.6394303668212804 +12.75,2.5100318589273014 +13.0,2.3806333510333224 +13.25,2.2512348431393434 +13.5,2.1218363352453644 +13.75,1.9924378273513854 +14.0,1.8630393194574073 +14.25,1.7336408115634283 +14.5,1.6042423036694495 +14.75,1.4748437957754705 +15.0,1.4748437957754705 \ No newline at end of file diff --git a/stack_master/config/gb_optimizer/veh_dyn_info/ggv.csv b/stack_master/config/gb_optimizer/veh_dyn_info/ggv.csv new file mode 100644 index 0000000..f355141 --- /dev/null +++ b/stack_master/config/gb_optimizer/veh_dyn_info/ggv.csv @@ -0,0 +1,19 @@ +# v_mps,ax_max_mps2,ay_max_mps2 +0.0,12.0,12.0 +4.0,12.0,12.0 +8.0,12.0,12.0 +12.0,12.0,12.0 +16.0,12.0,12.0 +20.0,12.0,12.0 +24.0,12.0,12.0 +28.0,12.0,12.0 +32.0,12.0,12.0 +36.0,12.0,12.0 +40.0,12.0,12.0 +44.0,12.0,12.0 +48.0,12.0,12.0 +52.0,12.0,12.0 +56.0,12.0,12.0 +60.0,12.0,12.0 +66.0,12.0,12.0 +72.0,12.0,12.0 diff --git a/stack_master/config/global_planner_params.yaml b/stack_master/config/global_planner_params.yaml new file mode 100644 index 0000000..80b6dff --- /dev/null +++ b/stack_master/config/global_planner_params.yaml @@ -0,0 +1,9 @@ +# Parameters for global planner +rate: 10 # [hz] +test_on_car: True # also set True if using on a bag +required_laps: 1 # how many laps to drive until calculating global waypoints +safety_width: 0.7 # [m] including the width of the car +safety_width_sp: 0.7 # [m] including the width of the car for shortest path optimization +occupancy_grid_threshold: 10 + +show_plots: False diff --git a/stack_master/config/local_sysid_ver_params.yaml b/stack_master/config/local_sysid_ver_params.yaml new file mode 100644 index 0000000..d927588 --- /dev/null +++ b/stack_master/config/local_sysid_ver_params.yaml @@ -0,0 +1,42 @@ +# Parameters for local planner +rate: 40 # [hz] +test_on_car: True # also set True if using on a bag +n_loc_wpnts: 50 # number of local waypoints published, 1 waypoints every 0.1 meter# TODO add s where we want to go aggressive +every_n_lap_aggressive: 3 # number of laps driven in aggressive mode + +ftg_only: False +ftg_mode: "aggressive" # set to "safe" for precheck + +# Parameters for follow the gap controller +debug: False # publishes filtered scans if True but may not run smoothly + +safety_radius: 40 # helps not to cut corners +bubble_radius: 45 +preprocess_conv_size: 3 +best_point_conv_size: 200 # helps not to cut corners +max_lidar_dist: 9. + +range_offset: 220 # LiDAR has 1080 range points, only consider [range_offset,-range_offset] + +# speed is scaled with (1 - (steering_angle/max_steering)**steering_punish) and min(1, gap_distance/track_width - gap_offset) +cont_approach: True # continuous speed regulation +speed_filter: True +max_steering: 0.5 +steering_punish: 2 # 0.4 for max_speed = 10, 0.75 for max_speed = 7 +gap_offset: 0.1 # 0.1 or 0.05 for max_speed = 10, 0 for max_speed = 7 +track_width: 2.6 # approx gap distance on a straight when there are no obstacles (set debug to True to see gap distances during driving) +max_speed: 6. +min_speed: 2. +# not needed in ini version +speed_control_dist: 1. # if distance to best point is smaller than this, then speed does also depend on this distance + +# schedule for aggressivity +aggressive_schedule: + - 0 + - 1 + - 0 + - 0 + - 1 + - 0 +# parameter for switching +switch_position_s: 30 diff --git a/stack_master/config/opponent_tracker_params.yaml b/stack_master/config/opponent_tracker_params.yaml new file mode 100644 index 0000000..38e4d8e --- /dev/null +++ b/stack_master/config/opponent_tracker_params.yaml @@ -0,0 +1,19 @@ +detect: + rate: 40 # rate at which the node is running + lambda: 10 # minimum reliables detection angle in degrees + sigma: 0.03 # standard deviation of the noise of the lidar ranges in m + min_2_points_dist: 0.01 # minimum distance between two points + +tracking: + rate: 40 # rate at which the node is running + P_vs: 0.2 # proportional gain for the vs + P_d: 0.02 # proportional gain for the d + P_vd: 0.2 # proportional gain for the vd + measurment_var_s: 0.002 # the variance of the measurment noise in the s direction + measurment_var_d: 0.002 # the variance of the measurment noise in the d direction + measurment_var_vs: 0.2 + measurment_var_vd: 0.2 + process_var_vs: 2 # the variance of the process velocity noise in the s direction + process_var_vd: 8 # the variance of the process velocity noise in the d direction + max_dist: 0.5 # max distance for association + var_pub: 1 # obstacles with bigger variance are not published \ No newline at end of file diff --git a/stack_master/config/state_machine_params.yaml b/stack_master/config/state_machine_params.yaml new file mode 100644 index 0000000..af05374 --- /dev/null +++ b/stack_master/config/state_machine_params.yaml @@ -0,0 +1,30 @@ +# Parameters for local planner +rate: 80 # [hz] +test_on_car: True # also set True if using on a bag +n_loc_wpnts: 80 # number of local waypoints published, 1 waypoints every 0.1 meter + +### FTG Parameters ### +debug: False # publishes filtered scans if True but may not run smoothly + +safety_radius: 40 # helps not to cut corners +max_lidar_dist: 9. + +range_offset: 180 # LiDAR has 1080 range points, only consider [range_offset,-range_offset] +track_width: 2.6 # approx gap distance on a straight when there are no obstacles (set debug to True to see gap distances during driving) +max_speed: 6.0 +###################### + +splini_ttl: 2 # [s] ttl counter for validity of spliner waypoints -> NOW DYNAMIC RECONFIGURABLE + +gb_ego_width_m: 0.4 # [m], distance from gb path for rejoining +lateral_width_gb_m: 1.1 # [m] lateral width within which we consider obstacles to be on the overtaking line -> NOW DYNAMIC RECONFIGURABLE +gb_horizon_m: 6.9 # [m] horizon considered for the global waypoints to check for obstacles + +overtaking_horizon_m: 6.9 # [m] horizon considered for overtaking +lateral_width_ot_m: 0.3 # [m] lateral width within which we consider opponents to be on the overtaking line -> NOW DYNAMIC RECONFIGURABLE +splini_hyst_timer_sec: 0.2 # [s] time we have to wait between switching from overtaking on one side to the other -> NOW DYNAMIC RECONFIGURABLE + +ftg_speed_mps: 0.1 # [m/s] speed threshold below which we start a timer for activating FTG +ftg_timer_sec: 3 # [s] time we have to stay slower than the `ftg_speed` threshold before we activate FTG + +volt_threshold: 11 # [V] voltage threshold below which we start screaming diff --git a/stack_master/launch/base_system.launch b/stack_master/launch/base_system.launch new file mode 100644 index 0000000..150ac4b --- /dev/null +++ b/stack_master/launch/base_system.launch @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/launch/headtohead.launch b/stack_master/launch/headtohead.launch new file mode 100644 index 0000000..985d9d6 --- /dev/null +++ b/stack_master/launch/headtohead.launch @@ -0,0 +1,54 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/launch/mapping.launch b/stack_master/launch/mapping.launch new file mode 100644 index 0000000..c869e80 --- /dev/null +++ b/stack_master/launch/mapping.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/launch/state_indicator.launch b/stack_master/launch/state_indicator.launch new file mode 100755 index 0000000..8c29580 --- /dev/null +++ b/stack_master/launch/state_indicator.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/stack_master/launch/sysid_verify.launch b/stack_master/launch/sysid_verify.launch new file mode 100644 index 0000000..8d6697f --- /dev/null +++ b/stack_master/launch/sysid_verify.launch @@ -0,0 +1,124 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + [false, false, false, + false, false, true, + true, false, false, + false, false, false, + false, false, false] + + + + + [false, false, false, + false, false, true, + false, false, false, + false, false, true, + false, false, false] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/launch/time_trials.launch b/stack_master/launch/time_trials.launch new file mode 100644 index 0000000..b0113a3 --- /dev/null +++ b/stack_master/launch/time_trials.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/maps/.gitignore b/stack_master/maps/.gitignore new file mode 100644 index 0000000..3aa25eb --- /dev/null +++ b/stack_master/maps/.gitignore @@ -0,0 +1,8 @@ +# I assume most maps in stack_master/.../ are not going to be uploaded to Github. +# This gitignore exists for that purpose. +**.yaml +**.png +**.pbstream +**.data +**.posegraph +**.pgm \ No newline at end of file diff --git a/stack_master/maps/JFR_racingv5/JFR_racingv5.pbstream b/stack_master/maps/JFR_racingv5/JFR_racingv5.pbstream new file mode 100644 index 0000000..645c2c8 Binary files /dev/null and b/stack_master/maps/JFR_racingv5/JFR_racingv5.pbstream differ diff --git a/stack_master/maps/JFR_racingv5/JFR_racingv5.png b/stack_master/maps/JFR_racingv5/JFR_racingv5.png new file mode 100644 index 0000000..4656cd5 Binary files /dev/null and b/stack_master/maps/JFR_racingv5/JFR_racingv5.png differ diff --git a/stack_master/maps/JFR_racingv5/JFR_racingv5.yaml b/stack_master/maps/JFR_racingv5/JFR_racingv5.yaml new file mode 100644 index 0000000..159384c --- /dev/null +++ b/stack_master/maps/JFR_racingv5/JFR_racingv5.yaml @@ -0,0 +1,9 @@ +free_thresh: 0.196 +image: JFR_racingv5.png +negate: 0 +occupied_thresh: 0.65 +origin: +- -7.748979949951172 +- -6.321185302734375 +- 0 +resolution: 0.05000000074505806 diff --git a/stack_master/maps/JFR_racingv5/JFR_racingv5_backup.png b/stack_master/maps/JFR_racingv5/JFR_racingv5_backup.png new file mode 100644 index 0000000..4e1b651 Binary files /dev/null and b/stack_master/maps/JFR_racingv5/JFR_racingv5_backup.png differ diff --git a/stack_master/maps/JFR_racingv5/global_waypoints.json b/stack_master/maps/JFR_racingv5/global_waypoints.json new file mode 100644 index 0000000..c495de2 --- /dev/null +++ b/stack_master/maps/JFR_racingv5/global_waypoints.json @@ -0,0 +1 @@ +{"map_info_str": {"data": "IQP estimated lap time: 10.172s; IQP maximum speed: 8.483m/s; SP estimated lap time: 10.1983s; SP maximum speed: 8.4554m/s; "}, "est_lap_time": {"data": 10.198310572918402}, "centerline_markers": {"markers": [{"header": {"seq": 0, "stamp": {"secs": 0, "nsecs": 0}, "frame_id": "map"}, "ns": "", "id": 0, "type": 2, "action": 0, "pose": {"position": {"x": -4.550903772178275, "y": -2.6914872724959276, "z": 0.0}, "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1}}, "scale": {"x": 0.05, "y": 0.05, "z": 0.05}, "color": {"r": 0.0, "g": 0.0, "b": 1.0, "a": 1.0}, "lifetime": {"secs": 0, "nsecs": 0}, "frame_locked": false, "points": [], "colors": [], 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"points": [], "colors": [], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": false}, {"header": {"seq": 0, "stamp": {"secs": 0, "nsecs": 0}, "frame_id": "map"}, "ns": "", "id": 3, "type": 2, "action": 0, "pose": {"position": {"x": -4.252177606639081, "y": -2.7154095534990486, "z": 0.0}, "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1}}, "scale": {"x": 0.05, "y": 0.05, "z": 0.05}, "color": {"r": 0.0, "g": 0.0, "b": 1.0, "a": 1.0}, "lifetime": {"secs": 0, "nsecs": 0}, "frame_locked": false, "points": [], "colors": [], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": false}, {"header": {"seq": 0, "stamp": {"secs": 0, "nsecs": 0}, "frame_id": "map"}, "ns": "", "id": 4, "type": 2, "action": 0, "pose": {"position": {"x": -4.1522719111709145, "y": -2.717351800078247, "z": 0.0}, "orientation": {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1}}, "scale": {"x": 0.05, "y": 0.05, "z": 0.05}, "color": {"r": 0.0, "g": 0.0, "b": 1.0, "a": 1.0}, "lifetime": {"secs": 0, "nsecs": 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"b": 0.0, "a": 1.0}, "lifetime": {"secs": 0, "nsecs": 0}, "frame_locked": false, "points": [], "colors": [], "text": "", "mesh_resource": "", "mesh_use_embedded_materials": false}]}} \ No newline at end of file diff --git a/stack_master/maps/test_map/ot_sectors.yaml b/stack_master/maps/test_map/ot_sectors.yaml new file mode 100644 index 0000000..a396b84 --- /dev/null +++ b/stack_master/maps/test_map/ot_sectors.yaml @@ -0,0 +1,8 @@ +n_sectors: 1 +yeet_factor: 1.25 +spline_len: 30 +ot_sector_begin: 0.5 +Overtaking_sector0: + start: 0 + end: 770 + ot_flag: false diff --git a/stack_master/maps/test_map/speed_scaling.yaml b/stack_master/maps/test_map/speed_scaling.yaml new file mode 100644 index 0000000..2ac0b61 --- /dev/null +++ b/stack_master/maps/test_map/speed_scaling.yaml @@ -0,0 +1,8 @@ +global_limit: 0.5 +n_sectors: 1 +Sector0: + start: 0 + end: 770 + scaling: 0.5 + only_FTG: false + no_FTG: false diff --git a/stack_master/maps/test_map/test_map.png b/stack_master/maps/test_map/test_map.png new file mode 100644 index 0000000..0ba5b77 Binary files /dev/null and b/stack_master/maps/test_map/test_map.png differ diff --git a/stack_master/maps/test_map/test_map.yaml b/stack_master/maps/test_map/test_map.yaml new file mode 100644 index 0000000..7db26b2 --- /dev/null +++ b/stack_master/maps/test_map/test_map.yaml @@ -0,0 +1,9 @@ +free_thresh: 0.196 +image: test_map.png +negate: 0 +occupied_thresh: 0.65 +origin: +- -11.60654 +- -26.520793 +- 0 +resolution: 0.05000000074505806 diff --git a/stack_master/package.xml b/stack_master/package.xml new file mode 100644 index 0000000..c979720 --- /dev/null +++ b/stack_master/package.xml @@ -0,0 +1,69 @@ + + + stack_master + 0.0.0 + The stack_master package + + + + + icra_crew + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + rostest + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/stack_master/scripts/download_map.sh b/stack_master/scripts/download_map.sh new file mode 100644 index 0000000..a3dbcbc --- /dev/null +++ b/stack_master/scripts/download_map.sh @@ -0,0 +1,32 @@ +#!/bin/bash + +# This script downloads a map from the car to local map_editor folder + +cd "${0%/*}" +cd ../.. +# This ensures the current working directory is race_stack + +# Process ROS_MASTER_URI +IFS=":" +read -ra ARR <<< "$ROS_MASTER_URI" +ROS_MASTER=$(echo "${ARR[1]}" | awk '{ print substr( $0, 3 ) }') # remove '//' +echo "ROS master at: $ROS_MASTER" + +REMOTE_MAP_EDITOR_PATH="/home/race_crew/catkin_ws/src/race_stack/f110_utils/nodes/map_editor/maps" +LOCAL_MAP_EDITOR_PATH="f110_utils/nodes/map_editor/maps" + +if [ $# -gt 0 ]; then + echo "Listing contents of map $1 (remote)" + ssh race_crew@$ROS_MASTER ls -la $REMOTE_MAP_EDITOR_PATH/$1 + echo -e "\n" + + echo "Copying map from remote to local map_editor folder..." + mkdir -p $LOCAL_MAP_EDITOR_PATH/$1 + scp race_crew@$ROS_MASTER:$REMOTE_MAP_EDITOR_PATH/$1/* $LOCAL_MAP_EDITOR_PATH/$1/ + + echo "Done! Copied to $LOCAL_MAP_EDITOR_PATH/$1" +else + echo "Please specify a map name for this to work." + echo "A list of remote maps in the map_editor folder:" + ssh race_crew@$ROS_MASTER ls -la $REMOTE_MAP_EDITOR_PATH +fi \ No newline at end of file diff --git a/stack_master/scripts/finish_map.sh b/stack_master/scripts/finish_map.sh new file mode 100755 index 0000000..eba811b --- /dev/null +++ b/stack_master/scripts/finish_map.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +echo "Finish trajectory..." +rosservice call /finish_trajectory 0 +if [ "$1" = "" ] +then + echo "Please enter a map name: " + read map_name + echo "Save map under the name $map_name.pbstream" + rosservice call /write_state "{filename: '${HOME}/catkin_ws/src/icra_f110_stack/stack_master/maps/$map_name.pbstream', include_unfinished_submaps: "true"}" +else + echo "Save map under the name $1.pbstream" + rosservice call /write_state "{filename: '${HOME}/catkin_ws/src/icra_f110_stack/stack_master/maps/$1.pbstream', include_unfinished_submaps: "true"}" +fi diff --git a/stack_master/scripts/run_docker.sh b/stack_master/scripts/run_docker.sh new file mode 100755 index 0000000..1d76d22 --- /dev/null +++ b/stack_master/scripts/run_docker.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +echo "Go to docker folder" +cd /home/icra_crew/catkin_ws/src/icra_f110_stack/noetic_docker +echo "Build docker..." +docker build -t "ros-docker-f110" . +echo "Run planner..." +docker run -it --network=host --mount source="/home/icra_crew/catkin_ws/src/icra_f110_stack/stack_master/maps",type=bind,target=/maps ros-docker-f110:latest roslaunch f110_planner global_planner.launch diff --git a/stack_master/scripts/switch_map.sh b/stack_master/scripts/switch_map.sh new file mode 100755 index 0000000..956e907 --- /dev/null +++ b/stack_master/scripts/switch_map.sh @@ -0,0 +1,38 @@ +#!/bin/bash + +# This script transfers the YAML files from the given map in stack_master to the +# overtaking_sector_tuner and the sector_tuner. + +cd "${0%/*}" +cd ../.. +# This ensures the current working directory is race_stack + +MAP_PATH="stack_master/maps" + +if [ $# -gt 0 ]; then + echo "Listing contents of map $1" + ls $MAP_PATH/$1 + echo -e "\n" + + echo "Copying Overtaking Sector Tuner files..." + cp $MAP_PATH/$1/ot_sectors.yaml f110_utils/nodes/overtaking_sector_tuner/cfg/ot_sectors.yaml + echo -e "\n" + + echo "Copying Sector Tuner files..." + cp $MAP_PATH/$1/speed_scaling.yaml f110_utils/nodes/sector_tuner/cfg/speed_scaling.yaml + echo -e "\n" + + echo "Building ..." + cd ../..; # now we are in catkin_ws + catkin clean sector_tuner overtaking_sector_tuner && \ + catkin build sector_tuner overtaking_sector_tuner && \ + source /home/race_crew/catkin_ws/devel/setup.bash; + + echo -e "\n" + echo "Done! Please remember to source in your other terminals." +else + echo "Please specify a map name for this to work." + echo "A list of local maps in the stack_master folder:" + ls -la $MAP_PATH + echo -e "\n#######################################################################\n" +fi \ No newline at end of file diff --git a/stack_master/scripts/transfer_map.sh b/stack_master/scripts/transfer_map.sh new file mode 100755 index 0000000..2ea2de1 --- /dev/null +++ b/stack_master/scripts/transfer_map.sh @@ -0,0 +1,55 @@ +#!/bin/bash + +# This script transfers the YAML files from the given map in LOCAL map_editor to the +# REMOTE (car) overtaking_sector_tuner and the sector_tuner. + +cd "${0%/*}" +cd ../.. +# This ensures the current working directory is race_stack + +# Process ROS_MASTER_URI +IFS=":" +read -ra ARR <<< "$ROS_MASTER_URI" +ROS_MASTER=$(echo "${ARR[1]}" | awk '{ print substr( $0, 3 ) }') # remove '//' +echo "ROS master at: $ROS_MASTER" + +REMOTE_MAPS_PATH="/home/race_crew/catkin_ws/src/race_stack/stack_master/maps" +LOCAL_MAP_EDITOR_PATH="f110_utils/nodes/map_editor/maps" + +if [ $# -gt 0 ]; then + echo "Listing contents of map $1 (local)" + ls $LOCAL_MAP_EDITOR_PATH/$1 + echo -e "\n" + + # Uncomment if needed. + echo "Copying map to remote..." + ssh race_crew@$ROS_MASTER "mkdir -p $REMOTE_MAPS_PATH/$1" + scp $LOCAL_MAP_EDITOR_PATH/$1/* race_crew@$ROS_MASTER:$REMOTE_MAPS_PATH/$1/ + + echo "Copying Overtaking Sector Tuner files to remote..." + scp $LOCAL_MAP_EDITOR_PATH/$1/ot_sectors.yaml race_crew@$ROS_MASTER:/home/race_crew/catkin_ws/src/race_stack/f110_utils/nodes/overtaking_sector_tuner/cfg/ot_sectors.yaml + # cp stack_master/maps/$1/ot_sectors.yaml f110_utils/nodes/overtaking_sector_tuner/cfg/ot_sectors.yaml + echo -e "\n" + + echo "Copying Sector Tuner files to remote..." + scp $LOCAL_MAP_EDITOR_PATH/$1/speed_scaling.yaml race_crew@$ROS_MASTER:/home/race_crew/catkin_ws/src/race_stack/f110_utils/nodes/sector_tuner/cfg/speed_scaling.yaml + # cp stack_master/maps/$1/speed_scaling.yaml f110_utils/nodes/sector_tuner/cfg/speed_scaling.yaml + echo -e "\n" + + echo "Building on remote..." + ssh race_crew@$ROS_MASTER "\ + cd /home/race_crew/catkin_ws && \ + catkin clean sector_tuner overtaking_sector_tuner && \ + catkin build --continue sector_tuner overtaking_sector_tuner && \ + source /home/race_crew/catkin_ws/devel/setup.bash; \ + " + echo -e "\n" + echo "Done! Please remember to source in your other terminals." +else + echo "Please specify a map name for this to work." + echo "A list of local maps in the map_editor folder:" + ls -la f110_utils/nodes/map_editor/maps + echo -e "\n#######################################################################\n" + echo "A list of remote maps:" + ssh race_crew@$ROS_MASTER ls -la /home/race_crew/catkin_ws/src/race_stack/stack_master/maps +fi \ No newline at end of file diff --git a/stack_master/test/artifacts/foo.md b/stack_master/test/artifacts/foo.md new file mode 100644 index 0000000..c6cac69 --- /dev/null +++ b/stack_master/test/artifacts/foo.md @@ -0,0 +1 @@ +empty diff --git a/stack_master/test/head_to_head_splini.test b/stack_master/test/head_to_head_splini.test new file mode 100644 index 0000000..f3b8f7c --- /dev/null +++ b/stack_master/test/head_to_head_splini.test @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/stack_master/test/head_to_head_test.py b/stack_master/test/head_to_head_test.py new file mode 100755 index 0000000..933e1fa --- /dev/null +++ b/stack_master/test/head_to_head_test.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python3 + +import rospy +import rostest +import unittest +from std_msgs.msg import Bool +from f110_msgs.msg import LapData + + +class Head2HeadTester(unittest.TestCase): + def test_main(self): + node = Head2HeadTesterNode() + assert node.loop() + +class Head2HeadTesterNode: + def __init__(self): + rospy.init_node("head_to_head_test", anonymous=True) + + self.lap_data = LapData() + self.lap_data.lap_time = 99 + self.lap_time_sub = rospy.Subscriber('lap_data', LapData, self._lap_data_cb) + self.counter = 0 + self.n_laps = 1 + self.laptime_threshold = 30 + + self.pub_obs_flag = rospy.Publisher('/test/obst_start', Bool, queue_size=10) + + def _lap_data_cb(self, data: LapData): + self.lap_data = data + + def loop(self): + while not rospy.is_shutdown(): + if self.lap_data.lap_time < self.laptime_threshold: + break + else: + if self.lap_data.lap_count > self.n_laps: + rospy.loginfo(f"The car completed {self.n_laps:d} laps without going under {self.laptime_threshold:d} s. IT SUCKS!") + break + + self.pub_obs_flag.publish(True) + + while not rospy.is_shutdown(): + if self.lap_data.lap_time < self.laptime_threshold: + break + else: + if self.lap_data.lap_count > self.n_laps: + rospy.loginfo(f"The car completed {self.n_laps:d} laps without going under {self.laptime_threshold:d} s. IT SUCKS!") + break + + return True + +if __name__ == '__main__': + rostest.rosrun("stack_master", 'head_to_head_test', Head2HeadTester) diff --git a/stack_master/test/templates/time_trials.md b/stack_master/test/templates/time_trials.md new file mode 100644 index 0000000..a6a25ca --- /dev/null +++ b/stack_master/test/templates/time_trials.md @@ -0,0 +1,3 @@ +# F110 @ PBL - test report + +## time-trials report diff --git a/stack_master/test/time_trials.test b/stack_master/test/time_trials.test new file mode 100644 index 0000000..7ccfff4 --- /dev/null +++ b/stack_master/test/time_trials.test @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stack_master/test/time_trials_test.py b/stack_master/test/time_trials_test.py new file mode 100755 index 0000000..0f0610e --- /dev/null +++ b/stack_master/test/time_trials_test.py @@ -0,0 +1,69 @@ +#!/usr/bin/env python3 + +import datetime + +import rospy +import rospkg +import rostest +import unittest +from f110_msgs.msg import LapData + + +class TimeTrialsTester(unittest.TestCase): + def test_main(self): + node = TimeTrialsTesterNode() + assert node.loop() + +class TimeTrialsTesterNode: + def __init__(self): + rospy.init_node("time_trials_test", anonymous=True) + rospy.on_shutdown(self.on_shutdown) + + # TODO move config params in a yaml + self.lap_data = LapData() + self.lap_data.lap_time = -1 + self.lap_time_sub = rospy.Subscriber('lap_data', LapData, self._lap_data_cb) + self.n_laps = 3 + + # file preparation + self.output_text = self.init_output_report() + + def _lap_data_cb(self, data: LapData): + self.lap_data = data + self.output_text += f"Lap #{data.lap_count}: lap time {data.lap_time:5.5f} - average lateral deviation {data.average_lateral_error_to_global_waypoints:5.5f} - maximum lateral deviation {data.max_lateral_error_to_global_waypoints:5.5f}\n" + + def loop(self): + while not rospy.is_shutdown(): + if self.lap_data.lap_count >= self.n_laps: + rospy.loginfo(f"The car completed {self.n_laps:d} laps!") + self.save_report() + break + self.save_report() + return True + + def init_output_report(self): + stack_master_path = rospkg.RosPack().get_path('stack_master') + with open(stack_master_path+"/test/templates/time_trials.md", "r") as file: + txt = file.readlines() + + datetime_now = datetime.datetime.now() + datetime_string = datetime_now.strftime("%a %d %B %Y, %H:%M:%S") + txt += f"This test was run on: {datetime_string}\n\n" + + txt += f"Configuration parameters: TODO\n\n" + + txt += "### Laps\n\n" + return txt + + def save_report(self): + stack_master_path = rospkg.RosPack().get_path('stack_master') + full_path = stack_master_path+"/test/artifacts/time_trials_test_report.md" + print("THE SAVING PATH: " + full_path) + with open(full_path, "w") as file: + file.writelines(self.output_text) + + def on_shutdown(self): + self.save_report() + +if __name__ == '__main__': + rostest.rosrun("stack_master", 'time_trials_test', TimeTrialsTester) diff --git a/state_estimation/README.md b/state_estimation/README.md new file mode 100644 index 0000000..da79ff9 --- /dev/null +++ b/state_estimation/README.md @@ -0,0 +1,65 @@ +# State Estimation +![State Estimation Architecture](./misc/state_estimation_arch.png) + +This directory contains the localization submodules and the information required to understand the state estimation framework. Note that the state estimation components not related to the localization are launched seperately, namely in `base_system/f1tenth_system/racecar/racecar/launch/SE_launch.launch`, where the associated parameters can be adjusted. + +## Kalman Filter ## + +The Kalman Filter is implemented using the `robot_localization` package published [here](https://github.com/cra-ros-pkg/robot_localization) [see our paper for reference]. + +During operation, the EKF is launched in the State Estimaiton launch file, located in `base_system/f1tenth_system/racecar/racecar/launch/SE_launch.launch`. + +### Parameters + +The parameters relevant to the EKF, responsible for generating the velocity estimates, can in this case be subdivided into two categories: the covariances $\sigma_{i}^2 \in [0, \infty)$ associated with observations (zero elements are handled by the \verb|robot_localization| package) and the configuration parameters which dictate what sources are to be considered by the EKF. + +The `robot_localization` sensor fusion EKF configuration parameters are defined according to the associated publication as: + +$$ +\verb|config| = +\begin{bmatrix} + x & y & z \\ + roll & pitch & yaw \\ + vx & vy & vz \\ + vax & vay & vaz \\ + alx & aly & alz \\ +\end{bmatrix} +$$ + +where each entry is of type boolean, indicating whether or not the associated data source should be considered by the filter. + +The EKF parameters intended for tuning are summarized as follows: + +- $[\sigma_{VESC,x}, \sigma_{VESC,y}, \sigma_{VESC,\psi}] = [0.25, 0.5, 0.4]$ - the covariances associated with VESC control odometry x position, y position, and yaw angle, respectively. +- $[\sigma_{VESC,vx}, \sigma_{VESC,vy}, \sigma_{VESC,vaz}] = [0.02, 0.05, 0.0]$ - the covariances associated with VESC control odometry longitudinal, lateral, and angular yaw velocities, respectively. +- $[\sigma_{IMU,al}, \sigma_{IMU,va}, \sigma_{IMU,q}] = [0.0,0.0,0.0]$ - the covariances associated with IMU linear acceleration, angular velocity, and orientation measurements, respectively. +- The EKF configuration matrix for the VESC control odometry is defined as: +$$ +\verb|config_odom| = +\begin{bmatrix} + \verb|false| & \verb|false| & \verb|false| \\ + \verb|false| & \verb|false| & \verb|false| \\ + \verb|true| & \verb|true| & \verb|false| \\ + \verb|false| & \verb|false| & \verb|false| \\ + \verb|false| & \verb|false| & \verb|false| \\ +\end{bmatrix} +$$ +- The EKF configuration matrix for the IMU is defined as: +$$ +\verb|config_imu| = +\begin{bmatrix} + \verb|false| & \verb|false| & \verb|false| \\ + \verb|false| & \verb|false| & \verb|true| \\ + \verb|false| & \verb|false| & \verb|false| \\ + \verb|false| & \verb|false| & \verb|true| \\ + \verb|false| & \verb|false| & \verb|false| \\ +\end{bmatrix} +$$ + +## Localization ## +Currently you can choose localisation to be done between **either** SLAM or Particle Filter. In general SLAM is more accurate, faster to compute and smoother. Particle Filter on the other hand can perform better than SLAM **if** the floor is too slippery, the environment reflects badly (i.e. black tubes) or the track consists of a long straight without features. + +Localisation mode can be chosen in the base system, but SLAM is default: +```shell +roslaunch stack_master base_system.launch map_name:=MAPNAME racecar_version:=NUCX localization:= +``` diff --git a/state_estimation/cartographer_pbl/cartographer b/state_estimation/cartographer_pbl/cartographer new file mode 160000 index 0000000..877157a --- /dev/null +++ b/state_estimation/cartographer_pbl/cartographer @@ -0,0 +1 @@ +Subproject commit 877157a0d91788a7700221d87232d412cb3c1ef4 diff --git a/state_estimation/cartographer_pbl/cartographer_ros b/state_estimation/cartographer_pbl/cartographer_ros new file mode 160000 index 0000000..c138034 --- /dev/null +++ b/state_estimation/cartographer_pbl/cartographer_ros @@ -0,0 +1 @@ +Subproject commit c138034db0c47fe0ea5a2abe516acae02190dbf5 diff --git a/state_estimation/misc/state_estimation_arch.png b/state_estimation/misc/state_estimation_arch.png new file mode 100644 index 0000000..a0699a6 Binary files /dev/null and b/state_estimation/misc/state_estimation_arch.png differ diff --git a/state_estimation/particle_filter b/state_estimation/particle_filter new file mode 160000 index 0000000..1dc1367 --- /dev/null +++ b/state_estimation/particle_filter @@ -0,0 +1 @@ +Subproject commit 1dc1367f3aa7f6e0c67f94b2520654a763e34a11 diff --git a/state_machine/CMakeLists.txt b/state_machine/CMakeLists.txt new file mode 100644 index 0000000..f506c8d --- /dev/null +++ b/state_machine/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(state_machine) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + dynamic_reconfigure +) + +generate_dynamic_reconfigure_options( + cfg/dyn_statemachine_tuner.cfg +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES state_machine +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/state_machine.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/state_machine_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_state_machine.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/state_machine/README.md b/state_machine/README.md new file mode 100644 index 0000000..b600508 --- /dev/null +++ b/state_machine/README.md @@ -0,0 +1,45 @@ +# State Machine + +This node implements a state machine to effectively incorparate both `time_trials.launch` behaviors as well as `headtohead.launch`. + +It further contains the description of the state indicator, with more information [here](./state_indicator/README.md). + +## Description +The main node of the state machine is implemented in the `state_machine_node.py` file. This node is responsible for subscribing/publishing to the necessary topics, and computing the conditions necessary for the state transitions. + +The state transistions are implemented in the `state_transitions.py` file, what happens in the states (how the local waypoints are generated for the controller) is implemented in the `states.py` file. + +A simplified version of the state machine is shown in the figure below. +![State Machine](./misc/state_machine.png) + +## Parameters +- `lateral_width_gb_m`: Width in meters of the area considered around the global raceline for computing if it is free of obstacles. +- `lateral_width_ot_m`: Width in meters of the area considered around the local raceline for computing if it is free of obstacles. +- `splini_hyst_timer_sec`: Time that overtake state is blocked when switching side for overtaking +- `splini_ttl`: Tim to live in seconds for a cached overtaking trajectory +- `emergency_break_horizon`: Distance to obstacle at which emergency break flag is triggered in meters. NOTE: no emergency break behaviour is currently implemented. +- `ftg_speed_mps`: Treshold speed below which the Follow-the-gap counter is incremented. +- `ftg_timer_sec`: Treshold time above which the Follow-the-gap state is enforced. +- `ftg_active`: Flag to force the Follow-the-gap state. +- `force_GBTRACK`: Flag to force the GBTRACK state. + +## Input/Output topic signature +The node subscribes to: +- `/car_state/pose`: Car's pose in the map frame, Cartesian coordinates. +- `/car_state/odom_frenet`: Car's state in the frenet frame. +- `/global_waypoints`: Global waypoints. +- `/global_waypoints_scaled`: Scaled global waypoints. +- `/global_waypoints/overtaking`: Global waypoints for overtaking. +- `/perception/obstacles`: Obstacle array. +- `/planner/avoidance/otwpnts`: Splined waypoints, from the spliner node. +- `/vesc/sensors/core`: (Only on the physical platform) Core sensor data, used to read the battery voltage. + +The node publishes to: +- `local_waypoints`: Local waypoints used by the controller. +- `local_waypoints/markers`: Local waypoints markers for RVIZ visualization. +- `state_machine`: State, as a string, for informing every other node of the current state. +- `/state_marker`: State marker for RVIZ visualization. +- `/emergency_marker`: Emergency marker for low battery status, for RVIZ visualization. +- `/state_machine/latency`: Latency of the state machine node. (only if measuring is enabled) + + diff --git a/state_machine/cfg/dyn_statemachine_tuner.cfg b/state_machine/cfg/dyn_statemachine_tuner.cfg new file mode 100644 index 0000000..5610aef --- /dev/null +++ b/state_machine/cfg/dyn_statemachine_tuner.cfg @@ -0,0 +1,25 @@ +#!/usr/bin/env python3 +PACKAGE = "state_machine" +import rospkg +import yaml, os +from dynamic_reconfigure.parameter_generator_catkin import * + +ros_path = rospkg.RosPack().get_path('state_machine') + + +gen = ParameterGenerator() +gen.add("lateral_width_gb_m", double_t, 0, "Threshold to raceline for GB_FREE in meters", 0.25, 0.1, 1.75) +gen.add("lateral_width_ot_m", double_t, 0, "Threshold to raceline for O_FREE in meters", 0.3, 0.1, 1.75) + +gen.add("splini_hyst_timer_sec", double_t, 0, "Time that overtake state is blocked when spliner switching in seconds", 0.2, 0.1, 1.5) +gen.add("splini_ttl", int_t, 0, "Spliner ttl caching in seconds", 2, 0, 5) +gen.add("emergency_break_horizon", double_t, 0, "Distance to obstacle at which emergency break is triggered in meters", 1.1, 0.1, 2.0) + +gen.add("ftg_speed_mps", double_t, 0, "Treshold speed at which ftg counter is incremented in mps", 1.0, 0.1, 2.0) +gen.add("ftg_timer_sec", double_t, 0, "Treshold time at which ftg is triggered in seconds", 3.0, 0.5, 7.0) + +gen.add("ftg_active", bool_t, 0, "Toggle ftg active", False) + +gen.add("force_GBTRACK", bool_t, 0, "Toggle to GB TRACK state", False) + +exit(gen.generate(PACKAGE, "state_machinedynamic_tuner", "dyn_statemachine_tuner")) diff --git a/state_machine/misc/state_machine.png b/state_machine/misc/state_machine.png new file mode 100644 index 0000000..af7c954 Binary files /dev/null and b/state_machine/misc/state_machine.png differ diff --git a/state_machine/package.xml b/state_machine/package.xml new file mode 100644 index 0000000..2c09df3 --- /dev/null +++ b/state_machine/package.xml @@ -0,0 +1,71 @@ + + + state_machine + 0.0.0 + The state_machine package + + + + + icra_crew + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + roscpp + rospy + std_msgs + dynamic_reconfigure + + + + + + + + diff --git a/state_machine/src/__init__.py b/state_machine/src/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/state_machine/src/dynamic_statemachine_server.py b/state_machine/src/dynamic_statemachine_server.py new file mode 100755 index 0000000..5db36de --- /dev/null +++ b/state_machine/src/dynamic_statemachine_server.py @@ -0,0 +1,28 @@ +#!/usr/bin/env python3 +import rospy +from dynamic_reconfigure.server import Server +from state_machine.cfg import dyn_statemachine_tunerConfig + +def callback(config, level): + # Ensuring nice rounding by either 0.05 + config.lateral_width_gb_m = round(config.lateral_width_gb_m * 20) / 20 + config.lateral_width_ot_m = round(config.lateral_width_ot_m * 20) / 20 + + config.splini_hyst_timer_sec = round(config.splini_hyst_timer_sec * 20) / 20 + config.splini_ttl = round(config.splini_ttl * 20) / 20 + config.emergency_break_horizon = round(config.emergency_break_horizon, 2) + + config.ftg_speed_mps = round(config.ftg_speed_mps * 20) / 20 + config.ftg_timer_sec = round(config.ftg_timer_sec * 20) / 20 + + if not config.ftg_active: + rospy.logdebug_throttle_identical(30, "FTG IS NOT ACTIVE") + + return config + +if __name__ == "__main__": + rospy.init_node("dynamic_statemachine_tuner_node", anonymous=False) + print('[dynamic_statemachine_tuner_node] State Machine Parameter Server Launched') + srv = Server(dyn_statemachine_tunerConfig, callback) + rospy.spin() + diff --git a/state_machine/src/state_machine_node.py b/state_machine/src/state_machine_node.py new file mode 100755 index 0000000..345a942 --- /dev/null +++ b/state_machine/src/state_machine_node.py @@ -0,0 +1,779 @@ +#!/usr/bin/env python3 +import threading +import time + +import numpy as np +import rospy +import tf +from dynamic_reconfigure.msg import Config +from f110_msgs.msg import ObstacleArray, OTWpntArray, WpntArray +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Odometry +from scipy.interpolate import InterpolatedUnivariateSpline as Spline +from std_msgs.msg import String, Float32 +from visualization_msgs.msg import Marker, MarkerArray + +try: + # if we are in the car, vesc msgs are built and we read them + from vesc_msgs.msg import VescStateStamped +except: + pass + +import state_transitions +import states +from states_types import StateType + + +class StateMachine: + """ + This state machine ideally should subscribe to topics and calculate flags/conditions. + State transistions and state behaviors are described in `state_transistions.py` and `states.py` + """ + + def __init__(self, name) -> None: + self.name = name + self.rate_hz = rospy.get_param("state_machine/rate") # rate of planner in hertz + self.n_loc_wpnts = rospy.get_param("state_machine/n_loc_wpnts") # number of local waypoints published + self.local_wpnts = WpntArray() + self.waypoints_dist = 0.1 # [m] + self.lock = threading.Lock() # lock for concurrency on waypoints + self.measuring = rospy.get_param("/measure", default=False) + + + # get initial dynamic parameters + self.racecar_version = rospy.get_param("/racecar_version") + self.sectors_params = rospy.get_param("/map_params") + self.timetrials_only = bool(rospy.get_param("state_machine/timetrials_only", "True")) + self.n_sectors = self.sectors_params["n_sectors"] + # only ftg zones + self.only_ftg_zones = [] + self.ftg_counter = 0 + # overtaking variables + self.ot_sectors_params = rospy.get_param("/ot_map_params") + self.n_ot_sectors = self.ot_sectors_params["n_sectors"] + self.overtake_wpnts = None + self.overtake_zones = [] + self.ot_begin_margin = 0.5 + self.cur_volt = 11.69 # default value for sim + self.volt_threshold = rospy.get_param("state_machine/volt_threshold", default=10) + + # Planner parameters + self.ot_planner = rospy.get_param("state_machine/ot_planner", default="spliner") + + # waypoint variables + self.cur_id_ot = 1 + self.max_speed = -1 # max speed in global waypoints for visualising + self.max_s = 0 + self.current_position = None + self.glb_wpnts = None + self.gb_max_idx = None + self.wpnt_dist = self.waypoints_dist + self.num_glb_wpnts = 0 # number of waypoints on global trajectory + self.num_ot_points = 0 + self.previous_index = 0 + self.gb_ego_width_m = rospy.get_param("state_machine/gb_ego_width_m") + self.lateral_width_gb_m = rospy.get_param("state_machine/lateral_width_gb_m", 0.75) # [m] DYNIAMIC PARAMETER + self.gb_horizon_m = rospy.get_param("state_machine/gb_horizon_m") + + # mincurv spline + self.mincurv_spline_x = None + self.mincurv_spline_y = None + # ot spline + self.ot_spline_x = None + self.ot_spline_y = None + self.ot_spline_d = None + self.recompute_ot_spline = True + + # obstacle avoidance variables + self.obstacles = [] + self.obstacles_perception = [] + self.obstacle_was_here = True + self.side_by_side_threshold = 0.6 + self.merger = None + self.force_trailing = False + + # spliner variables + self.splini_ttl = rospy.get_param("state_machine/splini_ttl", 2.0) + self.splini_ttl_counter = int(self.splini_ttl * self.rate_hz) # convert seconds to counters + self.avoidance_wpnts = None + self.last_valid_avoidance_wpnts = None + self.overtaking_horizon_m = rospy.get_param("state_machine/overtaking_horizon_m", 6.9) + self.lateral_width_ot_m = rospy.get_param("state_machine/lateral_width_ot_m", 0.3) # [m] DYNIAMIC PARAMETER + self.splini_hyst_timer_sec = rospy.get_param("state_machine/splini_hyst_timer_sec", 0.75) + + self.emergency_break_horizon = 1.1 # [m] + + # FTG params + self.ftg_speed_mps = rospy.get_param("state_machine/ftg_speed_mps", 1.0) # [mps] DYNIAMIC PARAMETER + self.ftg_timer_sec = rospy.get_param("state_machine/ftg_timer_sec", 3.0) # [s] DYNIAMIC PARAMETER + + # Force GBTRACK state + self.force_gbtrack_state = False # [s] DYNIAMIC PARAMETER + + # visualization variables + self.first_visualization = True + self.x_viz = 0 + self.y_viz = 0 + + # STATES + self.cur_state = StateType.GB_TRACK + rospy.loginfo(f"[{self.name}] The default state for the state machine is {self.cur_state}") + if self.ot_planner == "spliner": + self.state_transitions = ( + { # this is very manual, but should not be a problem as in general states should not be too many + StateType.GB_TRACK: state_transitions.SpliniGlobalTrackingTransition, + StateType.TRAILING: state_transitions.SpliniTrailingTransition, + StateType.OVERTAKE: state_transitions.SpliniOvertakingTransition, + StateType.FTGONLY: state_transitions.SpliniFTGOnlyTransition, + } + ) + # Here a new state transition can be added if wanted + else: + raise NotImplementedError(f"Planner {self.ot_planner} not supported!") + + self.states = { # this is very manual, but should not be a problem as in general states should not be too many + StateType.GB_TRACK: states.GlobalTracking, + StateType.TRAILING: states.Trailing, + StateType.OVERTAKE: states.Overtaking, + StateType.FTGONLY: states.FTGOnly, + } + + # SUBSCRIPTIONS + rospy.Subscriber("/car_state/pose", PoseStamped, self.pose_cb) + rospy.wait_for_message("/car_state/pose", PoseStamped) + rospy.Subscriber("/global_waypoints_scaled", WpntArray, self.glb_wpnts_cb) # from velocity scaler + rospy.Subscriber("/global_waypoints/overtaking", WpntArray, self.overtake_cb) + # wait for global trajectory + rospy.wait_for_message("/global_waypoints_scaled", WpntArray) + rospy.wait_for_message("/global_waypoints/overtaking", WpntArray) + rospy.Subscriber("/car_state/odom_frenet", Odometry, self.frenet_pose_cb) + rospy.wait_for_message("/car_state/odom_frenet", Odometry) + + rospy.Subscriber("/global_waypoints", WpntArray, self.glb_wpnts_og_cb) # from og wpnts + + # dynamic parameters subscriber + rospy.Subscriber("/dynamic_statemachine_server/parameter_updates", Config, self.dyn_param_cb) + rospy.Subscriber("/dyn_sector_server/parameter_updates", Config, self.sector_dyn_param_cb) + rospy.Subscriber("/ot_dyn_sector_server/parameter_updates", Config, self.ot_dyn_param_cb) + rospy.Subscriber("/perception/obstacles", ObstacleArray, self.obstacle_perception_cb) + if self.ot_planner == "spliner": + rospy.Subscriber("/planner/avoidance/otwpnts", OTWpntArray, self.avoidance_cb) + if not rospy.get_param("/sim"): + rospy.Subscriber("/vesc/sensors/core", VescStateStamped, self.vesc_state_cb) # for reading battery voltage + + # Parameters + self.track_length = rospy.get_param("/global_republisher/track_length") + + # PUBLICATIONS + self.loc_wpnt_pub = rospy.Publisher("local_waypoints", WpntArray, queue_size=1) + self.vis_loc_wpnt_pub = rospy.Publisher("local_waypoints/markers", MarkerArray, queue_size=10) + self.state_pub = rospy.Publisher("state_machine", String, queue_size=1) + self.state_mrk = rospy.Publisher("/state_marker", Marker, queue_size=10) + self.emergency_pub = rospy.Publisher("/emergency_marker", Marker, queue_size=5) # for low voltage + if self.measuring: + self.latency_pub = rospy.Publisher("/state_machine/latency", Float32, queue_size=10) + + # MAIN LOOP + self.loop() + + def on_shutdown(self): + rospy.loginfo(f"[{self.name}] Shutting down state machine") + + ############# + # CALLBACKS # + ############# + def vesc_state_cb(self, data): + """vesc state callback, reads the voltage""" + self.cur_volt = data.state.voltage_input + + def avoidance_cb(self, data: OTWpntArray): + """spliniboi waypoints""" + if len(data.wpnts) > 0: + self.splini_ttl_counter = int(self.splini_ttl * self.rate_hz) + self.avoidance_wpnts = data + + # Otherwise we don't overwrite the avoidance waypoints + else: + pass + + def frenet_pose_cb(self, data: Odometry): + self.cur_s = data.pose.pose.position.x + self.cur_d = data.pose.pose.position.y + self.cur_vs = data.twist.twist.linear.x + if self.num_ot_points != 0: + self.cur_id_ot = int(self._find_nearest_ot_s()) + + def overtake_cb(self, data): + """ + Callback function of overtake subscriber. + + Parameters + ---------- + data + Data received from overtake topic + """ + self.overtake_wpnts = data.wpnts + self.num_ot_points = len(self.overtake_wpnts) + + # compute the OT spline when new spline + if self.recompute_ot_spline and self.num_ot_points != 0: + self.ot_splinification() + self.recompute_ot_spline = False + + def glb_wpnts_cb(self, data: WpntArray): + """ + Callback function of velocity interpolator subscriber. + + Parameters + ---------- + data + Data received from velocity interpolator topic + """ + self.glb_wpnts = data.wpnts[:-1] # exclude last point (because last point == first point) + self.num_glb_wpnts = len(self.glb_wpnts) + self.max_s = data.wpnts[-1].s_m + # Get spacing between wpnts for rough approximations + self.wpnt_dist = data.wpnts[1].s_m - data.wpnts[0].s_m + self.gb_max_idx = data.wpnts[-1].id + + def glb_wpnts_og_cb(self, data): + """ + Callback function of OG global waypoints 100% speed. + + Parameters + ---------- + data + Data received from velocity interpolator topic + """ + if self.max_speed == -1: + self.max_speed = max([wpnt.vx_mps for wpnt in data.wpnts]) + else: + pass + + def obstacle_perception_cb(self, data): + if len(data.obstacles) != 0: + self.obstacles_perception = data.obstacles + self.obstacles = data.obstacles + else: + self.obstacles = [] + + + def pose_cb(self, data): + """ + Callback function of /tracked_pose subscriber. + + Parameters + ---------- + data + Data received from /tracked_pose topic + """ + x = data.pose.position.x + y = data.pose.position.y + theta = tf.transformations.euler_from_quaternion( + [data.pose.orientation.x, data.pose.orientation.y, data.pose.orientation.z, data.pose.orientation.w] + )[2] + + self.current_position = [x, y, theta] + + def dyn_param_cb(self, params: Config): + """ + Notices the change in the State Machine parameters and sets + """ + self.lateral_width_gb_m = rospy.get_param("dynamic_statemachine_server/lateral_width_gb_m", 0.75) + self.lateral_width_ot_m = rospy.get_param("dynamic_statemachine_server/lateral_width_ot_m", 0.3) + self.splini_ttl = rospy.get_param("dynamic_statemachine_server/splini_ttl") + self.splini_ttl_counter = int(self.splini_ttl * self.rate_hz) # convert seconds to counter + self.splini_hyst_timer_sec = rospy.get_param("dynamic_statemachine_server/splini_hyst_timer_sec", 0.75) + self.emergency_break_horizon = rospy.get_param("dynamic_statemachine_server/emergency_break_horizon", 1.1) + self.ftg_speed_mps = rospy.get_param("dynamic_statemachine_server/ftg_speed_mps", 1.0) + self.ftg_timer_sec = rospy.get_param("dynamic_statemachine_server/ftg_timer_sec", 3.0) + + self.ftg_disabled = not rospy.get_param("dynamic_statemachine_server/ftg_active", False) + self.force_gbtrack_state = rospy.get_param("dynamic_statemachine_server/force_GBTRACK", False) + + if self.force_gbtrack_state: + rospy.logwarn(f"[{self.name}] GBTRACK state force activated!!!") + + rospy.logdebug( + "[{}] Received new parameters for state machine: lateral_width_gb_m: {}, " + "lateral_width_ot_m: {}, splini_ttl: {}, splini_hyst_timer_sec: {}, ftg_speed_mps: {}, " + "ftg_timer_sec: {}, GBTRACK_force: {}".format( + self.name, + self.lateral_width_gb_m, + self.lateral_width_ot_m, + self.splini_ttl, + self.splini_hyst_timer_sec, + self.ftg_speed_mps, + self.ftg_timer_sec, + self.force_gbtrack_state + ) + ) + + def sector_dyn_param_cb(self, params: Config): + """ + Notices the change in the parameters and sets no/only ftg zones + """ + # reset ftg zones + self.only_ftg_zones = [] + # update ftg zones + for i in range(self.n_sectors): + self.sectors_params[f"Sector{i}"]["only_FTG"] = params.bools[2 * i].value + if self.sectors_params[f"Sector{i}"]["only_FTG"]: + self.only_ftg_zones.append( + [self.sectors_params[f"Sector{i}"]["start"], self.sectors_params[f"Sector{i}"]["end"]] + ) + + def ot_dyn_param_cb(self, params: Config): + """ + Notices the change in the parameters and sets overtaking zones + """ + # reset overtake zones + self.overtake_zones = [] + # update overtake zones + try: + for i in range(self.n_ot_sectors): + self.ot_sectors_params[f"Overtaking_sector{i}"]["ot_flag"] = params.bools[i].value + # add start and end index of the sector + if self.ot_sectors_params[f"Overtaking_sector{i}"]["ot_flag"]: + self.overtake_zones.append( + [ + self.ot_sectors_params[f"Overtaking_sector{i}"]["start"], + self.ot_sectors_params[f"Overtaking_sector{i}"]["end"], + ] + ) + except IndexError as e: + raise IndexError(f"[State Machine] Error in overtaking sector numbers. \nTry switching map with the script in stack_master/scripts and re-source in every terminal. \nError thrown: {e}") + + self.ot_begin_margin = params.doubles[2].value # Choose the dyn ot param value + rospy.logwarn(f"[{self.name}] Using OT beginning { self.ot_begin_margin}[m] from param: {params.doubles[2].name}" ) + # Spline new OT if they exist already + self.recompute_ot_spline = True + + def merger_cb(self, data): + self.merger = data.data + + def force_trailing_cb(self, data): + self.force_trailing = data.data + + ###################################### + # ATTRIBUTES/CONDITIONS CALCULATIONS # + ###################################### + """ For consistency, all conditions should be calculated in this section, and should all have the same signature: + def _check_condition(self) -> bool: + ... + """ + + def _check_only_ftg_zone(self) -> bool: + ftg_only = False + # check if the car is in a ftg only zone, but only if there is an only ftg zone + if len(self.only_ftg_zones) != 0: + for sector in self.only_ftg_zones: + if sector[0] <= self.cur_s / self.waypoints_dist <= sector[1]: + ftg_only = True + # rospy.logwarn(f"[{self.name}] IN FTG ONLY ZONE") + break # cannot be in two ftg zones + return ftg_only + + def _check_close_to_raceline(self) -> bool: + return np.abs(self.cur_d) < self.gb_ego_width_m # [m] + + def _check_ot_sector(self) -> bool: + for sector in self.overtake_zones: + if sector[0] <= self.cur_s / self.waypoints_dist <= sector[1]: + # rospy.loginfo(f"[{self.name}] In overtaking sector!") + return True + return False + + def _check_ofree(self) -> bool: + o_free = True + + # Slightly different for spliner + if self.ot_planner == "spliner": + if not self.timetrials_only and self.last_valid_avoidance_wpnts is not None: + horizon = self.overtaking_horizon_m # Horizon in front of cur_s [m] + + for obs in self.obstacles: + if self.ot_planner == "spliner": + obs_s = obs.s_center + # Wrapping madness to check if infront + dist_to_obj = (obs_s - self.cur_s) % self.max_s + if dist_to_obj < horizon and len(self.last_valid_avoidance_wpnts): + obs_d = obs.d_center + # Get d wrt to mincurv from the overtaking line + avoid_wpnt_idx = np.argmin( + np.array([abs(avoid_s.s_m - obs_s) for avoid_s in self.last_valid_avoidance_wpnts]) + ) + ot_d = self.last_valid_avoidance_wpnts[avoid_wpnt_idx].d_m + ot_obs_dist = ot_d - obs_d + if abs(ot_obs_dist) < self.lateral_width_ot_m: + o_free = False + rospy.loginfo(f"[{self.name}] O_FREE False, obs dist to ot lane: {ot_obs_dist} m") + break + else: + o_free = True + return o_free + + else: + rospy.logerr(f"[{self.name}] Unknown overtake planner") + raise NotImplementedError + + def _check_gbfree(self) -> bool: + gb_free = True + # If we are in time trial only mode -> return free overtake i.e. GB_FREE True + if not self.timetrials_only: + horizon = self.gb_horizon_m # Horizon in front of cur_s [m] + + for obs in self.obstacles: + obs_s = (obs.s_start + obs.s_end) / 2 + obs_s = obs.s_center + gap = (obs_s - self.cur_s) % self.track_length + if gap < horizon: + obs_d = obs.d_center + # Get d wrt to mincurv from the overtaking line + if abs(obs_d) < self.lateral_width_gb_m: + gb_free = False + rospy.loginfo(f"[{self.name}] GB_FREE False, obs dist to ot lane: {obs_d} m") + break + else: + gb_free = True + + return gb_free + + def _check_enemy_in_front(self) -> bool: + # If we are in time trial only mode -> return free overtake i.e. GB_FREE True + if not self.timetrials_only: + horizon = self.gb_horizon_m # Horizon in front of cur_s [m] + for obs in self.obstacles: + gap = (obs.s_start - self.cur_s) % self.track_length + if gap < horizon: + return True + return False + + def _check_availability_splini_wpts(self) -> bool: + if self.avoidance_wpnts is None: + return False + elif len(self.avoidance_wpnts.wpnts) == 0: + return False + # Say no to the ot line if the last switch was less than 0.75 seconds ago + elif ( + abs((self.avoidance_wpnts.header.stamp - self.avoidance_wpnts.last_switch_time).to_sec()) + < self.splini_hyst_timer_sec + ): + rospy.logdebug(f"[{self.name}]: Still too fresh into the switch...{abs((self.avoidance_wpnts.last_switch_time - rospy.Time.now()).to_sec())}") + return False + else: + # If the splinis are valid update the last valid ones + self.last_valid_avoidance_wpnts = self.avoidance_wpnts.wpnts.copy() + return True + + def _check_ftg(self) -> bool: + # If we have been standing still for 3 seconds inside TRAILING -> FTG + threshold = self.ftg_timer_sec * self.rate_hz + if self.ftg_disabled: + return False + else: + if self.cur_state == StateType.TRAILING and self.cur_vs < self.ftg_speed_mps: + self.ftg_counter += 1 + rospy.logwarn(f"[{self.name}] FTG counter: {self.ftg_counter}/{threshold}") + else: + self.ftg_counter = 0 + + if self.ftg_counter > threshold: + return True + else: + return False + + def _check_emergency_break(self) -> bool: + # NOTE: unused flag, but could be useful + emergency_break = False + if not self.timetrials_only: + if self.obstacles != []: + horizon = self.emergency_break_horizon # Horizon in front of cur_s [m] + + for obs in self.obstacles: + # Wrapping madness to check if infront + dist_to_obj = (obs.s_center - self.cur_s) % self.max_s + if dist_to_obj < horizon: + + # Get d wrt to mincurv from the overtaking line + local_wpnt_idx = np.argmin( + np.array([abs(avoid_s.s_m - obs.s_center) for avoid_s in self.local_wpnts.wpnts]) + ) + ot_d = self.local_wpnts.wpnts[local_wpnt_idx].d_m + ot_obs_dist = ot_d - obs.d_center + if abs(ot_obs_dist) < self.lateral_width_ot_m: + emergency_break = True + rospy.loginfo("[{self.name}] emergency break") + else: + emergency_break = False + return emergency_break + + ################ + # HELPER FUNCS # + ################ + + def mincurv_splinification(self): + coords = np.empty((len(self.glb_wpnts), 4)) + for i, wpnt in enumerate(self.glb_wpnts): + coords[i, 0] = wpnt.s_m + coords[i, 1] = wpnt.x_m + coords[i, 2] = wpnt.y_m + coords[i, 3] = wpnt.vx_mps + + self.mincurv_spline_x = Spline(coords[:, 0], coords[:, 1]) + self.mincurv_spline_y = Spline(coords[:, 0], coords[:, 2]) + self.mincurv_spline_v = Spline(coords[:, 0], coords[:, 3]) + rospy.loginfo(f"[{self.name}] Splinified Min Curve") + + def ot_splinification(self): + coords = np.empty((len(self.overtake_wpnts), 5)) + for i, wpnt in enumerate(self.overtake_wpnts): + coords[i, 0] = wpnt.s_m + coords[i, 1] = wpnt.x_m + coords[i, 2] = wpnt.y_m + coords[i, 3] = wpnt.d_m + coords[i, 4] = wpnt.vx_mps + + # Sort s_m to start splining at 0 + coords = coords[coords[:, 0].argsort()] + self.ot_spline_x = Spline(coords[:, 0], coords[:, 1]) + self.ot_spline_y = Spline(coords[:, 0], coords[:, 2]) + self.ot_spline_d = Spline(coords[:, 0], coords[:, 3]) + self.ot_spline_v = Spline(coords[:, 0], coords[:, 4]) + rospy.loginfo(f"[{self.name}] Splinified Overtaking Curve") + + def _find_nearest_ot_s(self) -> float: + half_search_dim = 5 + + # create indices + idxs = [ + i % self.num_ot_points for i in range(self.cur_id_ot - half_search_dim, self.cur_id_ot + half_search_dim) + ] + ses = np.array([self.overtake_wpnts[i].s_m for i in idxs]) + + dists = np.abs(self.cur_s - ses) + chose_id = np.argmin(dists) + s_ot = idxs[chose_id] + s_ot %= self.num_ot_points + + return s_ot + + def get_splini_wpts(self) -> WpntArray: + """Obtain the waypoints by fusing those obtained by spliner with the + global ones. + """ + splini_glob = self.glb_wpnts.copy() + + # Handle wrapping + if self.last_valid_avoidance_wpnts is not None: + if self.last_valid_avoidance_wpnts[-1].s_m > self.last_valid_avoidance_wpnts[0].s_m: + splini_idxs = [ + s + for s in range( + int(self.last_valid_avoidance_wpnts[0].s_m / self.waypoints_dist + 0.5), + int(self.last_valid_avoidance_wpnts[-1].s_m / self.waypoints_dist + 0.5), + ) + ] + else: + splini_idxs = [ + int(s % (self.max_s / self.waypoints_dist) + 0.5) + for s in range( + int(self.last_valid_avoidance_wpnts[0].s_m / self.waypoints_dist + 0.5), + int((self.max_s + self.last_valid_avoidance_wpnts[-1].s_m) / self.waypoints_dist + 0.5), + ) + ] + + with self.lock: # to avoid crash when the waypoints are updated but we're looping here + for i, s in enumerate(splini_idxs): + # splini_glob[s] = self.last_valid_avoidance_wpnts[i] + splini_glob[s] = self.last_valid_avoidance_wpnts[min(i, len(self.last_valid_avoidance_wpnts) - 1)] + + # If the last valid points have been reset, then we just pass the global waypoints + else: + rospy.logwarn(f"[{self.name}] No valid avoidance waypoints, passing global waypoints") + pass + + return splini_glob + + ####### + # VIZ # + ####### + + def _pub_local_wpnts(self, wpts: WpntArray): + loc_markers = MarkerArray() + loc_wpnts = wpts + loc_wpnts.header.stamp = rospy.Time.now() + loc_wpnts.header.frame_id = "map" + + for i, wpnt in enumerate(loc_wpnts.wpnts): + mrk = Marker() + mrk.header.frame_id = "map" + mrk.type = mrk.SPHERE + mrk.scale.x = 0.15 + mrk.scale.y = 0.15 + mrk.scale.z = 0.15 + mrk.color.a = 1.0 + mrk.color.g = 1.0 + + mrk.id = i + mrk.pose.position.x = wpnt.x_m + mrk.pose.position.y = wpnt.y_m + mrk.pose.position.z = wpnt.vx_mps / self.max_speed # Visualise speed in z dimension + mrk.pose.orientation.w = 1 + loc_markers.markers.append(mrk) + + if len(loc_wpnts.wpnts) == 0: + rospy.logwarn(f"[{self.name}] No local waypoints published...") + else: + self.loc_wpnt_pub.publish(loc_wpnts) + + self.vis_loc_wpnt_pub.publish(loc_markers) + + def visualize_state(self, state: str): + """ + Function that visualizes the state of the car by displaying a colored cube in RVIZ. + + Parameters + ---------- + action + Current state of the car to be displayed + """ + if self.first_visualization: + self.first_visualization = False + x0 = self.glb_wpnts[0].x_m + y0 = self.glb_wpnts[0].y_m + x1 = self.glb_wpnts[1].x_m + y1 = self.glb_wpnts[1].y_m + # compute normal vector of 125% length of trackboundary but to the left of the trajectory + xy_norm = ( + -np.array([y1 - y0, x0 - x1]) / np.linalg.norm([y1 - y0, x0 - x1]) * 1.25 * self.glb_wpnts[0].d_left + ) + + self.x_viz = x0 + xy_norm[0] + self.y_viz = y0 + xy_norm[1] + + mrk = Marker() + mrk.type = mrk.SPHERE + mrk.id = 1 + mrk.header.frame_id = "map" + mrk.header.stamp = rospy.Time.now() + mrk.color.a = 1.0 + mrk.color.g = 1.0 + mrk.pose.position.x = self.x_viz + mrk.pose.position.y = self.y_viz + mrk.pose.position.z = 0 + mrk.pose.orientation.w = 1 + mrk.scale.x = 1 + mrk.scale.y = 1 + mrk.scale.z = 1 + + # Set color and log info based on the state of the car + if state == "GB_TRACK": + mrk.color.g = 1.0 + elif state == "OVERTAKE": + mrk.color.r = 1.0 + mrk.color.g = 1.0 + mrk.color.b = 1.0 + elif state == "TRAILING": + mrk.color.r = 0.0 + mrk.color.g = 0.0 + mrk.color.b = 1.0 + elif state == "FTGONLY": + mrk.color.r = 1.0 + mrk.color.g = 0.0 + mrk.color.b = 0.0 + self.state_mrk.publish(mrk) + + def publish_not_ready_marker(self): + """Publishes a text marker that warn the user that the car is not ready to run""" + mrk = Marker() + mrk.type = mrk.TEXT_VIEW_FACING + mrk.id = 1 + mrk.header.frame_id = "map" + mrk.header.stamp = rospy.Time.now() + mrk.color.a = 1.0 + mrk.color.r = 1.0 + mrk.color.g = 0.0 + mrk.color.b = 0.0 + mrk.pose.position.x = np.mean( + [wpnt.x_m for wpnt in self.glb_wpnts] + ) # publish in the center of the track, to avoid not seeing it + mrk.pose.position.y = np.mean([wpnt.y_m for wpnt in self.glb_wpnts]) + mrk.pose.position.z = 1.0 + mrk.pose.orientation.w = 1 + mrk.scale.x = 4.69 + mrk.scale.y = 4.69 + mrk.scale.z = 4.69 + mrk.text = "BATTERY TOO LOW!!!" + self.emergency_pub.publish(mrk) + + ############# + # MAIN LOOP # + ############# + def loop(self): + """Main loop of the state machine. It is called at a fixed rate by the + ROS node. + """ + + # safety check + if self.cur_volt < self.volt_threshold: + rospy.logerr_throttle_identical(1, f"[{self.name}] VOLTS TOO LOW, STOP THE CAR") + + # publishes a marker that warn the user that the car is not ready to run + self.publish_not_ready_marker() + + # do state transition (unless we want to force it into GB_TRACK via dynamic reconfigure) + if self.measuring: + start = time.perf_counter() + if not self.force_gbtrack_state: + self.cur_state = self.state_transitions[self.cur_state](self) + else: + self.cur_state = StateType.GB_TRACK + rospy.logwarn(f"[{self.name}] GBTRACK state forced!!!") + if self.measuring: + end = time.perf_counter() + self.latency_pub.publish(end - start) + + self.state_pub.publish(self.cur_state.value) + self.visualize_state(state=self.cur_state.value) + if self.timetrials_only: + rospy.logdebug_throttle_identical( + 1, f"[{self.name}] Switched to state {self.cur_state} in time trials only mode" + ) + else: + rospy.logdebug_throttle_identical( + 1, f"[{self.name}] Switched to state {self.cur_state} in OT mode: {self.ot_planner}" + ) + + # decrease splini ttl counter used to cache the splini waypoints, once 0 it gets overwritten in case of empty avoidance + if self.ot_planner == "spliner": + self.splini_ttl_counter -= 1 + # Once ttl has reached 0 we overwrite the avoidance waypoints with the empty waypoints + if self.splini_ttl_counter <= 0: + self.last_valid_avoidance_wpnts = None + self.avoidance_wpnts = WpntArray() + self.splini_ttl_counter = -1 + + + # get the proper local waypoints based on the new state + self.local_wpnts.wpnts = self.states[self.cur_state](self) + self._pub_local_wpnts(self.local_wpnts) + + # Clear FTG counter if not in TRAILING state + if self.cur_state != StateType.TRAILING: + self.ftg_counter = 0 + + +if __name__ == "__main__": + name = "state_machine" + rospy.init_node(name, anonymous=False, log_level=rospy.WARN) + + + # init and run state machine + state_machine = StateMachine(name) + rospy.on_shutdown(state_machine.on_shutdown) + + loop_rate = rospy.Rate(state_machine.rate_hz) + while not rospy.is_shutdown(): + state_machine.loop() + loop_rate.sleep() diff --git a/state_machine/src/state_transitions.py b/state_machine/src/state_transitions.py new file mode 100644 index 0000000..b86bcf6 --- /dev/null +++ b/state_machine/src/state_transitions.py @@ -0,0 +1,109 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from states_types import StateType + +if TYPE_CHECKING: + from state_machine_node import StateMachine + +""" +Transitions should loosely follow the following template (basically a match-case) + +if (logic sum of bools obtained by methods of state_machine): + return StateType. +elif (e.g. state_machine.obstacles are near): + return StateType. +... + +NOTE: ideally put the most common cases on top of the match-case + +NOTE 2: notice that, when implementing new states, if an attribute/condition in the + StateMachine is not available, your IDE will tell you, but only if you have a smart + enough IDE. So use vscode, pycharm, fleet or whatever has specific python syntax highlights. + +NOTE 3: transistions must not have side effects on the state machine! + i.e. any attribute of the state machine should not be modified in the transitions. + +""" + + +####################### +# SPLINER TRANSITIONS # +####################### +def SpliniGlobalTrackingTransition(state_machine: StateMachine) -> StateType: + """Transitions for being in `StateType.GB_TRACK`""" + if not state_machine._check_only_ftg_zone(): + if state_machine._check_gbfree(): + return StateType.GB_TRACK + else: + return StateType.TRAILING + else: + return StateType.FTGONLY + + +def SpliniTrailingTransition(state_machine: StateMachine) -> StateType: + """Transitions for being in `StateType.TRAILING`""" + gb_free = state_machine._check_gbfree() + ot_sector = state_machine._check_ot_sector() + + if not state_machine._check_only_ftg_zone(): + # If we have been sitting around in TRAILING for a while then FTG + if state_machine._check_ftg(): + return StateType.FTGONLY + if not gb_free and not ot_sector: + return StateType.TRAILING + elif gb_free and state_machine._check_close_to_raceline(): + return StateType.GB_TRACK + elif ( + not gb_free + and ot_sector + and state_machine._check_availability_splini_wpts() + and state_machine._check_ofree() + ): + return StateType.OVERTAKE + else: + return StateType.TRAILING + else: + return StateType.FTGONLY + + +def SpliniOvertakingTransition(state_machine: StateMachine) -> StateType: + """Transitions for being in `StateType.OVERTAKE`""" + if not state_machine._check_only_ftg_zone(): + in_ot_sector = state_machine._check_ot_sector() + spline_valid = state_machine._check_availability_splini_wpts() + o_free = state_machine._check_ofree() + + # If spline is on an obstacle we trail + if not o_free: + return StateType.TRAILING + if in_ot_sector and o_free and spline_valid: + return StateType.OVERTAKE + # If spline becomes unvalid while overtaking, we trail + elif in_ot_sector and not spline_valid and not o_free: + return StateType.TRAILING + # go to GB_TRACK if not in ot_sector and the GB is free + elif not in_ot_sector and state_machine._check_gbfree(): + return StateType.GB_TRACK + # go to Trailing if not in ot_sector and the GB is not free + else: + return StateType.TRAILING + else: + return StateType.FTGONLY + + +def SpliniFTGOnlyTransition(state_machine: StateMachine) -> StateType: + if state_machine._check_only_ftg_zone(): + return StateType.FTGONLY + else: + if state_machine._check_close_to_raceline() and state_machine._check_gbfree(): + return StateType.GB_TRACK + else: + return StateType.FTGONLY + + +#################################### +# OTHER TRANSITIONS could go here # +#################################### +# def SomeOtherStateTransition(state_machine: StateMachine) -> StateType: diff --git a/state_machine/src/states.py b/state_machine/src/states.py new file mode 100644 index 0000000..edf7ce8 --- /dev/null +++ b/state_machine/src/states.py @@ -0,0 +1,32 @@ +from typing import List +from state_machine_node import StateMachine +from f110_msgs.msg import Wpnt + +""" +Here we define the behaviour in the different states. +Every function should be fairly concise, and output an array of f110_msgs.Wpnt +""" +def GlobalTracking(state_machine: StateMachine) -> List[Wpnt]: + s = int(state_machine.cur_s/state_machine.waypoints_dist + 0.5) + return [state_machine.glb_wpnts[(s + i)%state_machine.num_glb_wpnts] for i in range(state_machine.n_loc_wpnts)] + +def Trailing(state_machine: StateMachine) -> List[Wpnt]: + # This allows us to trail on the last valid spline if necessary + if state_machine.last_valid_avoidance_wpnts is not None: + splini_wpts = state_machine.get_splini_wpts() + s = int(state_machine.cur_s/state_machine.waypoints_dist + 0.5) + return [splini_wpts[(s + i)%state_machine.num_glb_wpnts] for i in range(state_machine.n_loc_wpnts)] + else: + s = int(state_machine.cur_s/state_machine.waypoints_dist + 0.5) + return [state_machine.glb_wpnts[(s + i)%state_machine.num_glb_wpnts] for i in range(state_machine.n_loc_wpnts)] + +def Overtaking(state_machine: StateMachine) -> List[Wpnt]: + splini_wpts = state_machine.get_splini_wpts() + s = int(state_machine.cur_s/state_machine.waypoints_dist + 0.5) + return [splini_wpts[(s + i)%state_machine.num_glb_wpnts] for i in range(state_machine.n_loc_wpnts)] + +def FTGOnly(state_machine: StateMachine) -> List[Wpnt]: + """No waypoints are generated in this follow the gap only state, all the + control inputs are generated in the control node. + """ + return [] diff --git a/state_machine/src/states_types.py b/state_machine/src/states_types.py new file mode 100644 index 0000000..75a0150 --- /dev/null +++ b/state_machine/src/states_types.py @@ -0,0 +1,7 @@ +import enum + +class StateType(enum.Enum): + GB_TRACK = 'GB_TRACK' + TRAILING = 'TRAILING' + OVERTAKE = 'OVERTAKE' + FTGONLY = 'FTGONLY' diff --git a/state_machine/state_indicator/README.md b/state_machine/state_indicator/README.md new file mode 100644 index 0000000..c1b84bb --- /dev/null +++ b/state_machine/state_indicator/README.md @@ -0,0 +1,63 @@ +## Overview + +The state indicator contains two parts: a .ino file which is flashed on the microcontroller (MCU) board and a ROS node that runs parallelly on the onboard computer (OBC). The ROS node handles all heavy computations and publishes the needed topics in a lightweight format to the MCU, which in turn commands the LED ring based on this information. + +Two modes for visualizing data on the state indicator are available. +- Mode 1 (default): STATE_MODE for visualization of the current state from the state machine + - Red: Follow the gap controller + - Green: GB optimizer + - Blue: Trailing + - Blinking RGB: Overtaking + + +- Mode 2: SPEED_STEERING_MODE for visualization of telemetry data + - LEDs on front: Visualization of the current speed. Green corresponds to slow, while red corresponds to high speed (parameter range: 0 - 7 m/s) + - LEDs on sides: Vizualization of the steering. Left steering corresponds to an activation of the LEDs on the left side and vice versa. The more intensive the blue light, the larger the steering angle (parameter range: -0.3 - 0 rad and 0 - 0.3 rad). + +At any time the mode can be switched by typing *1* or *2* in the running terminal. + + + +## Hardware setup + +### Mounting +The mounting system consists of two parts: a socket that is mounted on an even surface on the racecar, as well as the housing part that protects the MCU and is the foundation for the sombrero hat. The sombrero can be fixed with double sided tape to the housing part. + +On the following drive, the STL files of these parts are available for 3D printing: +`https://drive.google.com/drive/folders/1xYb2RIYk_Wn1eqLJk18Y0YzSIoeKPCN8` + +### Electronics +The centerpiece of the state indicator is the MCU, which processes the data from the OBC. The board is connected to the OBC per USB cable and is wired with the LED ring on which the data is visualized. The utilized MCU is an **Arduino Micro** which offers a micro USB port for communication via rosserial with the OBC, as well as *pulse width modulation (PWM)* pins for communication with the LED ring. Three cables transmitting **GND**, **5V VCC** and **Data in (PWM)** are soldered on the corresponding pins on the MCU as well as on the LED ring. + +## Software setup + +### Setup on the microcontroller (MCU) +Plug in the MCU to your computer and flash the provided `.ino` file on it. Additionally, the `Adafruit_Neopixel` library needs to be installed on the MCU. + + +### Setup on the onboard computer (OBC) + +Connect the MCU with the OBC via a micro USB cable. +To attach the MCU permanently, add the following udev rule: +``` +$ sudo nano /etc/udev/rules.d/99-state-indicator.rules +``` + +Then define the rule as follows: +`KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="8037", MODE="0666", GROUP="dialout", SYMLINK+="state_indicator"` + +Execute these commands to reload and apply the rule: +``` +$ sudo udevadm control --reload-rules +$ sudo udevadm trigger +``` + +Now you should find the port `/dev/state_indicator` + + + +## Usage +To start up the state indicator, launch the following file: +``` +$ roslaunch stack_master state_indicator.launch +``` \ No newline at end of file diff --git a/state_machine/state_indicator/src/state_indicator_node.py b/state_machine/state_indicator/src/state_indicator_node.py new file mode 100755 index 0000000..d693962 --- /dev/null +++ b/state_machine/state_indicator/src/state_indicator_node.py @@ -0,0 +1,191 @@ +#!/usr/bin/env python3 + +import rospy +from std_msgs.msg import String +from std_msgs.msg import Int8 +from std_msgs.msg import Int32 +from std_msgs.msg import Float32 +from visualization_msgs.msg import Marker +from geometry_msgs.msg import PointStamped +from ackermann_msgs.msg import AckermannDriveStamped +import tf2_ros +import tf2_geometry_msgs +import math + +class StateIndicatorNode: + """ + This class implements a ROS node that handles the terminal utilities of the state indicator. Furthermore it acts as a republisher node. + Intensive computations are offloaded from the MCU to this node by subscribing to data and processing it into lightweight messages + for the MCU, as well as publishing them at a lower rate to reduce computational load on the MCU. + + It subscribes to the following topics: + - `/state_machine`: Subscribes to the current state from the state machine. + - `/trailing_opponent_marker`: Subscribes to the marker of the obstacle the racecar is trailing. + - `/vesc/high_level/ackermann_cmd_mux/input/nav_1`: Subscribes to the ackermann telemetry data of the racecar. + + The node publishes the following topics: + - `/state_indicator/mode`: Publishes the mode based on the user input through the terminal. + - `/state_indicator/state`: Republishes the state with 20 Hz. + - `/state_indicator/angle_led_index`: Publishes the index of the LED that should be light up on the state indicator to indicate + the position of the tracked obstacle at 10 Hz. + - `/state_indicator/speed`: Republishes the speed of the racecar from the ackermann message at 10 Hz. + - `/state_indicator/steering_angle`: Republishes the steering angle of the racecar from the ackermann message at 10 Hz. + """ + + def __init__(self): + """ + Initialize the node, subscribe to topics, create publishers and set up member variables. + """ + + # Initialize the node + self.name = "state_indicator_node" + rospy.init_node(self.name, anonymous=True) + + # Subscribe to the topics + rospy.Subscriber('/state_machine', String, self.state_callback) + rospy.Subscriber('/trailing_opponent_marker', Marker, self.trainling_angle_callback) + rospy.Subscriber('/vesc/high_level/ackermann_cmd_mux/input/nav_1', AckermannDriveStamped, self.ackermann_callback) + + # Publish the topics + self.mode_pub = rospy.Publisher('/state_indicator/mode', Int32, queue_size=10) + self.state_pub = rospy.Publisher('/state_indicator/state', String, queue_size=10) + self.trailing_angle_led_index_pub = rospy.Publisher('/state_indicator/trailing_angle_led_index', Int8, queue_size=10) + self.speed_pub = rospy.Publisher('/state_indicator/speed', Float32, queue_size=10) + self.steering_pub = rospy.Publisher('/state_indicator/steering_angle', Float32, queue_size=10) + + # Define variables used to control the publishing frequency of the topics + self.last_publish_time_state = rospy.Time.now() + self.last_publish_time_ackermann = rospy.Time.now() + self.last_publish_time_trailing_angle = rospy.Time.now() + + # Desired frequency in Hz + self.publish_frequency_state = 20 + self.publish_frequency_ackermann = 10 + self.publish_frequency_trailing_angle = 10 + + # Calculate the minimum interval + self.min_publish_interval_state = 1.0 / self.publish_frequency_state + self.min_publish_interval_ackermann = 1.0 / self.publish_frequency_ackermann + self.min_publish_interval_trailing_angle = 1.0 / self.publish_frequency_trailing_angle + + # Initialize the mode and state + self.current_mode = "STATE_MODE" + self.current_state = "GB_TRACK" + self.previous_state = "GB_TRACK" + + self.tf_buffer = tf2_ros.Buffer(rospy.Duration(1200.0)) + self.tf_listener = tf2_ros.TransformListener(self.tf_buffer) + + self.led_count = 12 # Number of LEDs on the LED ring + + # Depending on how the LED ring is mounted relative to the sombrero, the angle_offset may need to be adjusted + self.angle_offset = 180.0 # [degrees] + + ############# + # CALLBACKS # + ############# + + def state_callback(self, state_msg): + """ + Callback function for the state of the racecar. Republishes the state topic at 30 Hz as a String. + + Args: + - state_msg (String): The received message containing the state. + """ + + current_time = rospy.Time.now() + # Check if we should publish based on the last_publish_time and the minimum_interval + if (current_time - self.last_publish_time_state).to_sec() > self.min_publish_interval_state: + if self.current_state != state_msg.data: + if self.current_mode == "STATE_MODE": + # If the state has changed, print the change to the terminal and update current and previous states + rospy.loginfo(f"Switched to state: {state_msg.data}") + self.previous_state = self.current_state + self.current_state = state_msg.data + + # Republish the latest state message received + self.state_pub.publish(state_msg) + self.last_publish_time_state = current_time + + def ackermann_callback(self, ackermann_msg): + """ + Callback function for the telemetry data of the racecar.Republishes the speed and steering angle topic at 10 Hz as a Float32. + + Args: + - ackermann_msg (AckermannDriveStamped): The received message containing the telemetry data. + """ + + # Extract steering_angle and speed from received message + steer = ackermann_msg.drive.steering_angle + speed = ackermann_msg.drive.speed + + current_time = rospy.Time.now() + # Check if we should publish based on the last_publish_time and the minimum_interval + if (current_time - self.last_publish_time_ackermann).to_sec() > self.min_publish_interval_ackermann: + # Publish steering angle and speed to separate topics + self.steering_pub.publish(steer) + self.speed_pub.publish(speed) + self.last_publish_time_ackermann = current_time + + def trainling_angle_callback(self, marker_msg): + """ + Callback function for the trainling angle. Extracts the opponent point from the marker and transforms it into the 'base_link' frame. + Subsequently it calculates the angle between the opponent point and the x-axis and maps it to the an LED index, representing which LED on the ring to light up. + Publishes the LED index at 10 Hz as an Int8. + + Args: + - marker_msg (Marker): The received message containing the telemetry data. + """ + + current_time = rospy.Time.now() + if (current_time - self.last_publish_time_trailing_angle).to_sec() > self.min_publish_interval_trailing_angle: + + # Create the opponent point in the 'map' frame + opponent_point = PointStamped() + opponent_point.header.frame_id = marker_msg.header.frame_id + opponent_point.point = marker_msg.pose.position + + try: + # Transform the point to the 'base_link' frame + transform = self.tf_buffer.lookup_transform('base_link', 'map', rospy.Time()) + opponent_point_base_link = tf2_geometry_msgs.do_transform_point(opponent_point, transform) + + # Calculate the angle between the opponent point and the x-axis in 'base_link' + angle = math.atan2(opponent_point_base_link.point.y, opponent_point_base_link.point.x) + + # map the angle to the LED index and publish it as an Int8 + angle_degrees = math.degrees(angle) + self.angle_offset + angle_degrees = angle_degrees % 360 + led_index = int(round((360.0 - angle_degrees) * (self.led_count - 1) / 360.0)) + self.trailing_angle_led_index_pub.publish(Int8(led_index)) + self.last_publish_time_trailing_angle = current_time + + except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): + rospy.loginfo('[State Indicator]: TF Exception') + + ############# + # MAIN LOOP # + ############# + + def run(self): + rospy.loginfo("Type '1' for STATE_MODE or '2' for SPEED_STEERING_MODE") + + while not rospy.is_shutdown(): + user_input = input().strip() + if user_input in ['1', '2']: + mode = int(user_input) + if mode == 1: + self.current_mode = "STATE_MODE" + elif mode == 2: + self.current_mode = "SPEED_STEERING_MODE" + self.mode_pub.publish(mode) + rospy.loginfo(f"Switched to mode {mode}.") + else: + rospy.logwarn("Invalid input. Type '1' or '2' to switch between modes.") + + rospy.loginfo("Shutting down.") + +if __name__ == '__main__': + state_indicator = StateIndicatorNode() + state_indicator.run() + diff --git a/state_machine/state_indicator/state_indicator.ino b/state_machine/state_indicator/state_indicator.ino new file mode 100644 index 0000000..a2bdcb9 --- /dev/null +++ b/state_machine/state_indicator/state_indicator.ino @@ -0,0 +1,372 @@ +/******************************** PREPROCESSOR DIRECTIVES ********************************/ + +#define USE_USBCON // Ensures the serial communication is correctly initialized with rosserial over USB +#include +#include +#include +#include +#include +#include + + +/******************************** GLOBAL VARIABLES ********************************/ + +// Constants +constexpr uint8_t LED_COUNT = 12; // Number of LEDs on the ring +constexpr uint8_t LED_PIN = 13; // Digital pin on board connected to the ring +constexpr uint8_t MAIN_LOOP_DELAY = 90; // [ms] Delay introduced in the main loop. Neccesary for the OVERTAKE animation +constexpr uint16_t TIMEOUT_THRESHOLD = 10000; // [ms] Time since last message to trigger a timeout +constexpr uint8_t SPEED_STEERING_SCALING = 100; // Factor to scale speed and steering angle values. + // This is done to convert them from a float to an int. Adapt the scaling to adjust the accuracy of the value + +Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800); + +// Enums for state and mode management +enum OperationMode : uint8_t { STATE_MODE = 1, SPEED_STEERING_MODE = 2 }; +enum CarState : uint8_t { GB_TRACK, TRAILING, OVERTAKE, FTGONLY }; + +OperationMode currentMode = STATE_MODE; +CarState currentState = GB_TRACK, previousState = GB_TRACK; + +// Function declarations +void stateCallback (const std_msgs::String& stateMsg); +void modeCallback(const std_msgs::Int32& modeMsg); +void trailingAngleLedIndexCallback(const std_msgs::Int8& trailingAngleLedIndexMsg); +void speedCallback(const std_msgs::Float32& speedMsg); +void steeringAngleCallback(const std_msgs::Float32& steeringAngleMsg); + +void updateLedSpeed(); +void updateLedSteering(); +void updateLedTrailingAngle(); +void updateLedState(); +void overtakeAnimation(); + +// Variables for tracking timeout +unsigned long lastMessageTimeState = 0; +unsigned long lastMessageTimeSpeedSteering = 0; +bool timeoutModeState = false; +bool timeoutModeSpeedSteering = false; + +// Variables for OVERTAKE animation +unsigned long previousMillis = 0; +uint8_t currentBlink = 0; +uint8_t currentShift = 0; +bool overtakeAnimationActive = false; +bool overtakeAnimationComplete = false; + +// Variables for storing the last received messages from the callbacks +int16_t lastSteeringAngleMsg = 0; +uint16_t lastSpeedMsg = 0; +uint8_t lastTrailingAngleLedIndexMsg = 0; + +// ROS subscribers +ros::NodeHandle nh; +ros::Subscriber stateSubscriber("/state_indicator/state", stateCallback); +ros::Subscriber modeSubscriber("/state_indicator/mode", modeCallback); +ros::Subscriber trailingAngleLedIndexSubscriber("/state_indicator/trailing_angle_led_index", trailingAngleLedIndexCallback); +ros::Subscriber speedSubscriber("/state_indicator/speed", speedCallback); +ros::Subscriber steeringAngleSubscriber("/state_indicator/steering_angle", steeringAngleCallback); + + +/******************************** CALLBACK FUNCTIONS ********************************/ + +void modeCallback(const std_msgs::Int32& modeMsg){ +/* + * Callback function for the mode message. + * + * Args: + * - modeMsg: message containing the mode. + */ + + if (currentMode != modeMsg.data) { + strip.clear(); + strip.show(); + } + currentMode = modeMsg.data; +} + +void stateCallback(const std_msgs::String& stateMsg){ +/* + * Callback function for the state message. + * + * Args: + * - stateMsg: message containing the state of the racecar. + */ + + if (currentMode != STATE_MODE) return; // Only process the message in STATE_MODE + + if (strcmp(stateMsg.data, "GB_TRACK") == 0) { + currentState = GB_TRACK; + } else if (strcmp(stateMsg.data, "TRAILING") == 0) { + currentState = TRAILING; + } else if (strcmp(stateMsg.data, "OVERTAKE") == 0) { + currentState = OVERTAKE; + } else if (strcmp(stateMsg.data, "FTGONLY") == 0) { + currentState = FTGONLY; + } + lastMessageTimeState = millis(); + timeoutModeState = false; +} + +void trailingAngleLedIndexCallback(const std_msgs::Int8& trailingAngleLedIndexMsg){ +/* + * Callback function for the trailing angle LED index message. + * + * Args: + * - trailingAngleLedIndexMsg: message containing the LED index, representing the position + * of the opponent racecar relative to the racecar on its LED ring. + */ + + if(currentMode != STATE_MODE) return; // Only process the message in STATE_MODE + + lastTrailingAngleLedIndexMsg = trailingAngleLedIndexMsg.data; +} + +void speedCallback(const std_msgs::Float32& speedMsg){ +/* + * Callback function for the speed message. + * + * Args: + * - speedMsg: message containing the speed of the racecar. + */ + + if(currentMode != SPEED_STEERING_MODE) return; // Only process the message in SPEED_STEERING_MODE + + lastSpeedMsg = static_cast(speedMsg.data * SPEED_STEERING_SCALING); // Scale Float32 to convert it to an unsinged integer + lastMessageTimeSpeedSteering = millis(); + timeoutModeSpeedSteering = false; +} + +void steeringAngleCallback(const std_msgs::Float32& steeringAngleMsg){ +/* + * Callback function for the steering angle message. + * + * Args: + * - steeringAngleMsg: message containing the steering angle of the racecar. + */ + + if(currentMode != SPEED_STEERING_MODE) return; // Only process the message in SPEED_STEERING_MODE + + lastSteeringAngleMsg = static_cast(steeringAngleMsg.data * SPEED_STEERING_SCALING); // Scale Float32 to convert it to a signed integer + lastMessageTimeSpeedSteering = millis(); + timeoutModeSpeedSteering = false; +} + + +/******************************** LED VISUALIZATION FUNCTIONS ********************************/ + +void updateLedState() { +/* + * Function to update the LED ring color uniformly based on the current state of the racecar. + * Blue for TRAILING, Green for GB_TRACK, Red for FTGONLY and a RGB colored animation for OVERTAKE. + */ + + bool stateChanged = (currentState != previousState); // Check if the state has changed since the last update + + // Only update the LEDs if the overtake animation is not active or has just completed + if (!overtakeAnimationActive || overtakeAnimationComplete) { + strip.clear(); + + switch (currentState) { + case GB_TRACK: + if (!overtakeAnimationActive) { + strip.fill(strip.Color(0, 255, 0), 0, LED_COUNT); // Update LED ring to green + } + break; + + case TRAILING: + if (!overtakeAnimationActive) { + strip.fill(strip.Color(0, 0, 255), 0, LED_COUNT); // Update LED ring to blue + } + break; + + case OVERTAKE: + // Update flags and variables for OVERTAKE animation if the state has just changed + if (stateChanged) { + overtakeAnimationActive = true; + overtakeAnimationComplete = false; + currentShift = 0; + currentBlink = 0; + previousMillis = millis(); + } + break; + + case FTGONLY: + if (!overtakeAnimationActive) { + strip.fill(strip.Color(255, 0, 0), 0, LED_COUNT); // Update LED ring to red + } + break; + + default: + strip.clear(); // Clear LEDs if the state is undefined + } + strip.show(); + } + if (stateChanged) { + previousState = currentState; + } +} + +void overtakeAnimation(){ +/* + * Function to conduct an animation of alternately blinking RGB colors on the LED ring. + * Blue for TRAILING, Green for GB_TRACK, Red for FTGONLY and a RGB colored animation for OVERTAKE. + */ + + uint32_t colors[] = {strip.Color(255, 0, 0), strip.Color(0, 255, 0), strip.Color(0, 0, 255)}; // Red, Green, Blue + + // Check if enough time has passed to update the animation + if (millis() - previousMillis >= 30) { + previousMillis = millis(); + + // Ensure the animation runs only if the currentState is OVERTAKE and the animation is active + if (currentState == OVERTAKE && overtakeAnimationActive) { + for (uint8_t i = 0; i < LED_COUNT; i++) { + strip.setPixelColor(i, colors[(i + currentShift) % 3]); + } + strip.show(); + + // Change the color of every LED to the next one in the colors array for three times + currentShift++; + if (currentShift >= 3) { + currentShift = 0; + currentBlink++; + } + + // Conduct five iterations of the currentShift pattern + if (currentBlink >= 5) { + overtakeAnimationActive = false; + overtakeAnimationComplete = true; + currentBlink = 0; + } + } else { + overtakeAnimationActive = false; + } + } +} + +void updateLedTrailingAngle(){ +/* + * Function to set one LED, which resembles the relative direction to the opponent racecar, to purple. + * Is only called only, if the current state is TRAILING. + */ + + strip.setPixelColor(lastTrailingAngleLedIndexMsg, 255, 0, 255); // Purple color +} + +void updateLedSpeed(){ +/* + * Function to set the front five LEDs to an uniformly color, which resembles the speed of the racecar. + * Depending on how the LED ring is mounted relative to the sombrero hat, other indices of the LEDs that are controled need to be set. + */ + + uint16_t speed = map(lastSpeedMsg, 0, 700, 0, 255); // Map speed value (0m/s - 7m/s) to RGB range (0 - 255) + for (uint8_t i = 4; i < 9; i++) { + strip.setPixelColor(i, speed, 255 - speed, 0); // Fast driving -> red ; slow driving -> green + } +} + +void updateLedSteering(){ +/* + * Function to set three LEDs on the side to an uniformly blue color, which resembles the steering angle of the racecar. + * Depending on how the LED ring is mounted relative to the sombrero, other indices of the LEDs that are controled need to be set. + */ + + uint16_t steerRight = 0; + uint16_t steerLeft = 0; + + if(lastSteeringAngleMsg > 0){ + steerLeft = map(abs(lastSteeringAngleMsg), 0, 30, 0, 255); // Map steering value (0rad - 0.3rad) to RGB range (0 - 255) + } else if(lastSteeringAngleMsg < 0){ + steerRight = map(abs(lastSteeringAngleMsg), 0, 30, 0, 255); // Map steering value (-0.3rad - 0rad) to RGB range (0 - 255) + } + + for (uint8_t i = 1; i < 4; i++) { + strip.setPixelColor(i, 0, 0, steerLeft); // Harder steering -> more intensive blue + } + + for (uint8_t i = 9; i < 12; i++) { + strip.setPixelColor(i, 0, 0, steerRight); // Harder steering -> more intensive blue + } +} + + +/******************************** LOOP AND SETUP FUNCTIONS ********************************/ + +void setup(){ +/* + * Initializes the Arduino setup: sets up ROS node subscriptions, initializes the LED strip and ensures all systems are ready for operation. + */ + + nh.initNode(); + nh.subscribe(stateSubscriber); + nh.subscribe(modeSubscriber); + nh.subscribe(trailingAngleLedIndexSubscriber); + nh.subscribe(speedSubscriber); + nh.subscribe(steeringAngleSubscriber); + + strip.begin(); + strip.show(); + + // Initizalize the lastMessageTime for the first call of the timeout clause + lastMessageTimeState = millis(); + lastMessageTimeSpeedSteering = millis(); +} + + +void loop(){ +/* + * Main loop where the main logic takes place. Depeding on the mode and the time, at which the last message was received, + * either a timeout is triggered or the updateLED functions are called. + */ + + nh.spinOnce(); // Process ROS messages + unsigned long currentTime = millis(); + + // Turn off LEDs if the connection to the ROS node is lost + if (!nh.connected()) { + strip.clear(); + strip.show(); + } + + if(currentMode == STATE_MODE){ + if (currentTime - lastMessageTimeState > TIMEOUT_THRESHOLD) { + strip.clear(); + + // Log when no messages to the callback have arrived in the last TIMEOUT_THRESHOLD milliseconds + char log_msg[47]; + snprintf(log_msg, sizeof(log_msg), "STATE: No message arrived in the last %hu ms", TIMEOUT_THRESHOLD); + nh.loginfo(log_msg); + timeoutModeState = true; + } + else{ + strip.clear(); + updateLedState(); + if(currentState == TRAILING){ + updateLedTrailingAngle(); + } + if(overtakeAnimationActive){ + overtakeAnimation(); + } + } + } + else if(currentMode == SPEED_STEERING_MODE){ + if (currentTime - lastMessageTimeSpeedSteering > TIMEOUT_THRESHOLD) { + strip.clear(); + + // Log when no messages to the callback have arrived in the last TIMEOUT_THRESHOLD milliseconds + char log_msg[56]; + snprintf(log_msg, sizeof(log_msg), "SPEED_STEERING: No message arrived in the last %hu ms", TIMEOUT_THRESHOLD); + nh.loginfo(log_msg); + timeoutModeSpeedSteering = true; + } + else{ + strip.clear(); + updateLedSpeed(); + updateLedSteering(); + } + } + + strip.show(); + delay(MAIN_LOOP_DELAY); // Delay the main loop to allow the OVERTAKE animation to finish before the next update +} diff --git a/system_identification/README.md b/system_identification/README.md new file mode 100644 index 0000000..64d2da6 --- /dev/null +++ b/system_identification/README.md @@ -0,0 +1,9 @@ +# System Identification + +This folder contains the building blocks of the system identification system at the PBL F110 Group. + +The [id_controller](./id_controller/README.md) contains scripts that automate part of the data collection for system identification. + +The [id_analyser](./id_analyser/README.md) contains the scripts that analyse the data generated during the identification experiments to estimate model parameters. It also contains scripts to simulate the car's behavior and generate a lookup table to be used in conjunction with the MAP controller. + +The generated lookup tables that are to be used by the controller are copied into the cfg folder in [steering_lookup](./steering_lookup/README.md). This library then enables other ros packages to look up conversions from acceleration and speed to steering angle. diff --git a/system_identification/id_analyser/.gitignore b/system_identification/id_analyser/.gitignore new file mode 100644 index 0000000..9d18163 --- /dev/null +++ b/system_identification/id_analyser/.gitignore @@ -0,0 +1,4 @@ +.venv +*.pyc +*.vscode +*.json diff --git a/system_identification/id_analyser/README.md b/system_identification/id_analyser/README.md new file mode 100644 index 0000000..257c9dc --- /dev/null +++ b/system_identification/id_analyser/README.md @@ -0,0 +1,43 @@ +# Id Analyser +This packages contains the scripts to conduct the data analysis for system identifying the F110 car at PBL +More info about the System Identification procedure are [here](../../stack_master/checklists/SysID.md). + +## Getting Started + +For the analyser you need bagpy, as bagpy only works in python 3, but you might be running python2, create a virtual environment following this guide: +``` +https://code.visualstudio.com/docs/python/environments +``` +which boils down to doing the following in the id_analyser folder: +```shell +sudo apt-get install python3-venv +# move to the current folder +cd /home/icra_crew/catkin_ws/src/race_stack/system_identification/id_analyser/ +# create a new virtual environment +python3 -m venv .venv +``` +Then install the python extension for vscode and open the command palete using ```Ctrl+Shift+P``` and search for +"Python: Select Interpreter". If the interpreter does not show up, just manually select it (.venv/bin/python) + +Then install bagpy and anything else that might be required. + +```shell +source /home/icra_crew/catkin_ws/src/race_stack/system_identification/id_analyser/.venv/bin/activate +pip install wheel importlib-resources tk bagpy +``` + +## Physical System Identification + +Parameters that need to be identified physically are: +- I_z: Moment of Inertia around yaw axis - Bifilar Pendulum experiment +- h_cg: Height of the center of gravity over the wheel axes +- l_f: distance of front axis from center of mass +- l_r: distance of rear axis from center of mass +- l_wb: wheelbase, should be l_r + l_f +- m: mass of the model + +Typically these don't change significantly and need to be identified only once. If a new model is added, generate a model file using the script [add_model](add_model.py), where you can specify which tire model it is supposed to use. Prefer pacejka if you can perform a system identification. + +## Data Driven Identification + +After obtaining a physical model, we are still missing a few crucial model parameters, which can be obtained through a data driven approach. Refer to the [checklist](../../stack_master/checklists/SysID.md). for an extensive guide. \ No newline at end of file diff --git a/system_identification/id_analyser/add_model.py b/system_identification/id_analyser/add_model.py new file mode 100644 index 0000000..0253a61 --- /dev/null +++ b/system_identification/id_analyser/add_model.py @@ -0,0 +1,64 @@ +from helpers.save_model import save +# from helpers.dotdict import DotDict #only used in the experiments, not for pickle dump + +## Model Parameters that need to be measured manually ## +model_name = "SIM1" # name +tire_model = 'linear' # currently suppoted: linear, pacejka (SIM only models linear tire slip) +m = 3.47 # mass in kg # NUC1 3.54, SIM 3.47 +l_wb = 0.3302 # length of the wheelbase in m (front to back) # NUC1 0.307, SIM 0.3302 +l_f = 0.15875 # distance of CoM to front axle in m # NUC1 0.162, SIM 0.15875 +l_r = l_wb - l_f # distance of CoM to rear axle in m +h_cg = 0.074 # height of the center of mass above the wheel axis in m # NUC1 0.014, SIM 0.074 +I_z = 0.04712 # yawing moment of inertia in kg*m^2 # NUC1 0.05797, SIM 0.04712 + +# default parameters that the model is initialized with, overwritten in the experiments +mu = 0.523 # friction coefficient, fixed for first set of experiments # RW 1, SIM 0.523 +C_d = 1.1 # gain from servo position to steering angle +C_0d = 0.02 # offset from servo position to steering angle +C_v = 3500.0 # gain from velocity to erpm +C_0v = 0.0 # offset from velocity to erpm +C_acc = 3.2 # gain from acceleration command to current +C_dec = 3.2 # gain from deceleration command to current +C_R = 0.1 # gain from velocity (and hence induced drag and friction) to current +a_min = -3 # minimum acceleration in m*s^-2 +a_max = 3 # maximum acceleration in m*s^-2 +C_Pf = [0.1, 0.1, 0.1, 0.1] # pacejka tire parameters front +C_Pr = [0.1, 0.1, 0.1, 0.1] # pacejka tire parameters rear +C_Sf = 4.718 # cornering stiffness front axle +C_Sr = 5.4562 # cornering stiffness rear axle + +#Other Setup Parameters +overwrite_existing = True #only set to true if you are sure what you are doing + +def add_model(): + #Do work: + model_dict = { + 'model_name': model_name, + 'tire_model': tire_model, + 'm': m, + 'l_wb': l_wb, + 'l_f': l_f, + 'l_r': l_r, + 'h_cg': h_cg, + 'I_z': I_z, + 'mu': mu, + 'C_d': C_d, + 'C_0d': C_0d, + 'C_v': C_v, + 'C_0v': C_0v, + 'C_acc': C_acc, + 'C_dec': C_dec, + 'a_min': a_min, + 'a_max': a_max, + } + if tire_model == 'linear': + model_dict['C_Sf'] = C_Sf + model_dict['C_Sr'] = C_Sr + if tire_model == 'pacejka': + model_dict['C_Pf'] = C_Pf + model_dict['C_Pr'] = C_Pr + + save(model_dict, overwrite_existing, verbose=True) + +if __name__ == '__main__': + add_model() diff --git a/system_identification/id_analyser/analyse_accel.py b/system_identification/id_analyser/analyse_accel.py new file mode 100644 index 0000000..b94ee43 --- /dev/null +++ b/system_identification/id_analyser/analyse_accel.py @@ -0,0 +1,93 @@ +import os + +import numpy as np +import pandas as pd +from numpy.linalg import lstsq +import matplotlib.pyplot as plt + +from helpers.bagloader import load_bags +from helpers.load_model import get_dotdict +from helpers.save_model import save + +model_name_ = "SIM1_linear" #name + tire model name +local_bag_dir = './data/SIM1/accel' # path to folder with rosbag(s) with relevant experiment data + +script_dir = os.path.dirname(os.path.realpath(__file__)) +bag_dir_ = os.path.join(script_dir, local_bag_dir) + +class AccelerationAnalyser: + def __init__(self, model_name = model_name_, bag_dir = bag_dir_): + print(f"Loading model {model_name}...") + self.model = get_dotdict(model_name) + + # hangar + self.cmd_topic = "/vesc/commands/motor/current" + field_dict = {"/vesc/sensors/imu/raw": [ "linear_acceleration.y"], + "/vesc/odom": [ "twist.twist.linear.x"], + self.cmd_topic: ["data"]} + + self.data = load_bags(bag_dir, field_dict) + + self.analyse_accel() + self.refine_solution() + self.plot_solution() + + save(self.model) + + def analyse_accel(self): + sol = self.solve_ls_problem() + self.model.C_acc = sol[0][0] + self.model.C_R = sol[0][1] + + def refine_solution(self): + # refine solution, discard any datapoints that lie outside of std of the fit + # calculate the fit error for this data + error = (self.model.C_acc * self.accel + self.model.C_R * self.velocity) - self.current + error_std = np.std(error) + + error_df = pd.DataFrame(error, columns=["error"]) + self.data = pd.concat([self.data, error_df], axis=1) + self.data = self.data[self.data.error <= error_std] + sol = self.solve_ls_problem() + self.model.C_acc = float(sol[0][0]) + self.model.C_R = float(sol[0][1]) + + def solve_ls_problem(self): + self.current = self.data[self.cmd_topic + ".data"].to_numpy() + self.velocity = self.data["twist.twist.linear.x"].to_numpy() + + self.accel = -self.data["linear_acceleration.y"].to_numpy() + + v = np.reshape(self.velocity, (-1, 1)) # column vector + a = np.reshape(self.accel, (-1, 1)) # column vector + y_i = np.reshape(self.current, (-1, 1)) # column vector + A_i = np.concatenate((a, v), axis = 1) + sol = lstsq(A_i, y_i) + + print("Found a least squares solution: ") + print(sol) + return sol + + def plot_solution(self): + fit = np.divide((self.current - self.model.C_R * self.velocity), self.model.C_acc) # predicted acceleration + + fig, axs = plt.subplots(1, figsize=(7,5)) + + length = len(self.accel) + axs.plot(np.linspace(0,1,length), self.accel[:], 'b', label='est. x acceleration') + axs.plot(np.linspace(0,1,length), self.current[:]*0.05, 'r-', alpha=.5, label='com. current / 100') + axs.plot(np.linspace(0,1,length), self.velocity[:], 'r:', alpha=.5, label='est. velocity') + axs.plot(np.linspace(0,1,length), fit[:], 'g', label='predicted acceleration') + + + for ax in [axs]: + ax.set_xlabel('Time [s]') + ax.set_ylabel(r'Acceleration [$\frac{m}{s^2}$]') + ax.grid() + ax.legend(loc='best') + + plt.tight_layout() + plt.show() + +if __name__ == '__main__': + AccelerationAnalyser(model_name_, bag_dir_) diff --git a/system_identification/id_analyser/analyse_decel.py b/system_identification/id_analyser/analyse_decel.py new file mode 100644 index 0000000..acf78c3 --- /dev/null +++ b/system_identification/id_analyser/analyse_decel.py @@ -0,0 +1,92 @@ +import os +import numpy as np +import pandas as pd +from numpy.linalg import lstsq +import matplotlib.pyplot as plt + +from helpers.bagloader import load_bags +from helpers.load_model import get_dotdict +from helpers.save_model import save + +model_name_ = "SIM1_linear" #name + tire model name +local_bag_dir = 'data/SIM1/accel' # path to folder with rosbag(s) with relevant experiment data + +script_dir = os.path.dirname(os.path.realpath(__file__)) +bag_dir_ = os.path.join(script_dir, local_bag_dir) + +# needs to have acceleration analysed before as C_R is fixed for this + +class DecelerationAnalyser: + def __init__(self, model_name = model_name_, bag_dir = bag_dir_): + print(f"Loading model {model_name}...") + self.model = get_dotdict(model_name) + + # hangar + self.cmd_topic = "/vesc/commands/motor/brake" + field_dict = {"/vesc/sensors/imu/raw": [ "linear_acceleration.y"], + "/vesc/odom": [ "twist.twist.linear.x"], + self.cmd_topic: ["data"]} + self.data = load_bags(bag_dir, field_dict) + + self.analyse_decel() + self.refine_solution() + self.plot_solution() + + save(self.model) + + def analyse_decel(self): + sol = self.solve_ls_problem() + self.model.C_dec = sol[0][0] + + def refine_solution(self): + # refine solution, discard any datapoints that lie outside of std of the fit + # calculate the fit error for this data + error = (self.model.C_dec * self.accel + self.model.C_R * self.velocity) - self.current + error_std = np.std(error) + + error_df = pd.DataFrame(error, columns=["error"]) + self.data = pd.concat([self.data, error_df], axis=1) + self.data = self.data[self.data.error <= error_std] + sol = self.solve_ls_problem() + self.model.C_dec = float(sol[0][0]) + + def solve_ls_problem(self): + self.current = - self.data[self.cmd_topic + ".data"].to_numpy() + self.velocity = self.data["twist.twist.linear.x"].to_numpy() + + # time = data["Time"] + self.accel = -self.data["linear_acceleration.y"].to_numpy() + + v = np.reshape(self.velocity, (-1, 1)) # column vector + a = np.reshape(self.accel, (-1, 1)) # column vector + y_i = np.reshape(self.current, (-1, 1)) - self.model.C_R * v# column vector + A_i = a + sol = lstsq(A_i, y_i) + + print("Found a least squares solution: ") + print(sol) + return sol + + def plot_solution(self): + fit = np.divide((self.current - self.model.C_R * self.velocity), self.model.C_dec) # predicted acceleration + + fig, axs = plt.subplots(1, figsize=(7,5)) + + length = len(self.accel) + axs.plot(np.linspace(0,1,length), self.accel[:], 'b', label='est. x acceleration') + axs.plot(np.linspace(0,1,length), self.current[:]*0.05, 'r-', alpha=.5, label='com. current / 100') + axs.plot(np.linspace(0,1,length), self.velocity[:], 'r:', alpha=.5, label='est. velocity') + axs.plot(np.linspace(0,1,length), fit[:], 'g', label='predicted acceleration') + + + for ax in [axs]: + ax.set_xlabel('Normalized Time') + ax.set_ylabel(r'Acceleration [$\frac{m}{s^2}$]') + ax.grid() + ax.legend(loc='best') + + plt.tight_layout() + plt.show() + +if __name__ == '__main__': + DecelerationAnalyser(model_name_, bag_dir_) diff --git a/system_identification/id_analyser/analyse_motor_rpm.py b/system_identification/id_analyser/analyse_motor_rpm.py new file mode 100644 index 0000000..58ec72b --- /dev/null +++ b/system_identification/id_analyser/analyse_motor_rpm.py @@ -0,0 +1,128 @@ +import os +import numpy as np +import matplotlib.pyplot as plt +from numpy.linalg import lstsq +from scipy.ndimage import median_filter +from scipy.signal import sosfiltfilt, butter + +from helpers.bagloader import load_bags +from helpers.load_model import get_dotdict +from helpers.save_model import save + +g_ = 9.81 + +model_name_ = "NUC1_pacejka" #name + tire model name +model, tires = model_name_.split("_") +local_bag_dir = './data/' + model + "/motor" # path to folder with rosbag(s) with relevant experiment data + +script_dir = os.path.dirname(os.path.realpath(__file__)) +bag_dir_ = os.path.join(script_dir, local_bag_dir) + +class RPMAnalyser: + def __init__(self, model_name = model_name_, bag_dir = bag_dir_): + print(f"Loading model {model_name}...") + self.model = get_dotdict(model_name) + + # hangar + # field_dict = {"/vesc/odom": ["twist.twist.linear.x", "twist.twist.linear.y", "twist.twist.angular.z"], + # "/vesc/commands/motor/speed": ["data"], + # "/vesc/sensors/imu/raw": ["linear_acceleration.x", "linear_acceleration.y"]} + self.cmd_topic = "/vesc/commands/motor/speed" + field_dict = {"/ekf/odometry/filtered": ["twist.twist.linear.x"], + self.cmd_topic: ["data"], + "/vesc/sensors/imu/raw": ["linear_acceleration.y"]} + + if (model == "SIM") : + self.issim = True + self.data = load_bags(bag_dir, field_dict) + else : + self.issim = False + self.data = load_bags(bag_dir, field_dict) + + self.model.C_0v = 220 + + self.transform_data() + self.solve_rmp_fixed_offset() + i = 1 + while (i < 4): + self.discard_outliers(i) + self.solve_rmp_fixed_offset() + i += 1 + + save(self.model) + print("Final C_v: " + str(self.model.C_v)) + print("Final C_0v: " + str(self.model.C_0v)) + self.transform_data() + self.plot_solution() + + def discard_outliers(self, i): + print("Outlier Threshold: " + str(4000 * np.exp(-i))) + error = abs(self.model.C_v * self.v_x + self.model.C_0v - self.erpm) + keep_idxs = np.where(error <= 4000 * np.exp(-i)) + self.v_x = self.v_x[keep_idxs] + self.erpm = self.erpm[keep_idxs] + + def transform_data(self): + sos = butter(2, 0.05, output='sos') + if (self.issim): + self.a_long = self.data["linear_acceleration.x"].to_numpy() + else: + self.a_long_unfilt = - self.data["linear_acceleration.y"].to_numpy() + self.a_long = sosfiltfilt(sos, self.a_long_unfilt) + + self.data = self.data[abs(self.a_long) < 0.2] + + self.v_x = self.data["twist.twist.linear.x"].to_numpy() + self.v_x = median_filter(self.v_x, size= 5) + + # self.v_x = sosfiltfilt(sos, self.v_x) + self.erpm = self.data[self.cmd_topic+".data"].to_numpy() + + def solve_rmp(self): + v_gain = np.reshape(self.v_x, (-1,1)) + A = np.concatenate((v_gain, np.ones_like(v_gain)), axis = 1) + y = np.reshape(self.erpm, (-1,1)) + + # front + sol = lstsq(A, y) + print("Found a least squares solution: ") + print(sol) + self.model.C_v = float(sol[0][0]) + self.model.C_0v = float(sol[0][1]) + + # prepare plot: + self.space = np.linspace(np.min(self.v_x), np.max(self.v_x), 50) + self.fit = self.model.C_v * self.space + self.model.C_0v + + def solve_rmp_fixed_offset(self): + v_gain = np.reshape(self.v_x, (-1,1)) + A = v_gain + y = np.reshape(self.erpm, (-1,1)) + + # front + sol = lstsq(A, y) + print("Found a least squares solution: ") + print(sol) + self.model.C_v = float(sol[0][0]) + + # prepare plot: + self.space = np.linspace(np.min(self.v_x), np.max(self.v_x), 50) + self.fit = self.model.C_v * self.space + self.model.C_0v + + def plot_solution(self): + plt.figure(figsize=(8,6)) + + plt.scatter(self.v_x, self.erpm, color="Green", alpha=0.15, label='Measurements') + + plt.plot(self.space, self.fit, 'b', label=f'Model prediction') + + plt.xlabel(r'$v_x$ [m/s]') + plt.ylabel(r'ERPM [1]') + plt.grid() + plt.legend(loc='best') + + plt.tight_layout() + plt.show() + +if __name__ == '__main__': + RPMAnalyser(model_name_, bag_dir_) diff --git a/system_identification/id_analyser/analyse_steering.py b/system_identification/id_analyser/analyse_steering.py new file mode 100644 index 0000000..98b9a1b --- /dev/null +++ b/system_identification/id_analyser/analyse_steering.py @@ -0,0 +1,110 @@ +import os +from scipy.ndimage import median_filter +import numpy as np +from numpy.linalg import lstsq +import matplotlib.pyplot as plt + +from helpers.bagloader import load_bags +from helpers.load_model import get_dotdict +from helpers.save_model import save + +g_ = 9.81 + +model_name_ = "NUC1_pacejka" #name + tire model name +model, tires = model_name_.split("_") +local_bag_dir = './data/' + model + "/steering_angle" # path to folder with rosbag(s) with relevant experiment data + +script_dir = os.path.dirname(os.path.realpath(__file__)) +bag_dir_ = os.path.join(script_dir, local_bag_dir) + +class SteeringAnalyser: + def __init__(self, model_name = model_name_, bag_dir = bag_dir_): + print(f"Loading model {model_name}...") + self.model = get_dotdict(model_name) + + # simulation + # field_dict = {"/odom": ["twist.twist.linear.x", "twist.twist.linear.y", "twist.twist.angular.z"], + # "/drive": ["drive.steering_angle"]} + + # hangar + self.cmd_topic = "/vesc/commands/servo/position" + field_dict = {"/car_state/odom": ["twist.twist.linear.x", "twist.twist.linear.y", + "twist.twist.angular.z"], + self.cmd_topic: ["data"]} + + self.data = load_bags(bag_dir, field_dict) + self.transform_data() + + i = 0 + while (i < 9): + self.solve_steering() + self.discard_outliers(i) + i += 1 + + save(self.model) + print("Final C_d: " + str(self.model.C_d)) + print("Final C_0d: " + str(self.model.C_0d)) + self.transform_data() + self.plot_solution() + + def transform_data(self): + self.omega = self.data["twist.twist.angular.z"].to_numpy() + self.omega = median_filter(self.omega, size=5) + self.v_x = self.data["twist.twist.linear.x"].to_numpy() + self.v_x = median_filter(self.v_x, size=5) + self.servo_position = self.data[self.cmd_topic + ".data"].to_numpy() + + def solve_steering(self): + self.atan = np.arctan2((self.model.l_r + self.model.l_f) * self.omega, self.v_x) + atan_vector = np.reshape(self.atan, (-1, 1)) + A_i = np.concatenate((atan_vector, np.ones_like(atan_vector)), axis=1) + y_i = np.reshape(self.servo_position, (-1, 1)) + sol = lstsq(A_i, y_i) + print("Found a least squares solution: ") + print(sol) + self.model.C_d = float(sol[0][0]) + self.model.C_0d = float(sol[0][1]) + self.fit = (self.servo_position - self.model.C_0d * \ + np.ones_like(self.servo_position)) / self.model.C_d + + def discard_outliers(self, i): + print("Outlier Threshold: " + str(4 * 2**(-i))) + error = abs(self.fit - self.atan) + keep_idxs = np.where(error <= 4 * 2**(-i)) + self.v_x = self.v_x[keep_idxs] + self.omega = self.omega[keep_idxs] + self.servo_position = self.servo_position[keep_idxs] + + def plot_solution(self): + self.atan = np.arctan2((self.model.l_r + self.model.l_f) * self.omega, self.v_x) + + self.fit = (self.servo_position - self.model.C_0d * \ + np.ones_like(self.servo_position)) / self.model.C_d + + fig, axs = plt.subplots(1, figsize=(8,5)) + plt.xlabel(r'Normalized Time') + + cmd_axs = axs.twinx() + p3, = cmd_axs.plot(np.linspace(0, 1,num=len(self.servo_position)), self.servo_position, 'r', label='com. servo position') + + p1, = axs.plot(np.linspace(0, 1,num=len(self.atan)), self.atan, 'g', alpha=0.7, label='est. measured steering angle') + p2, = axs.plot(np.linspace(0, 1,num=len(self.fit)), self.fit, 'b', label='predicted steering angle') + axs.set_ylabel(r'Steering Angle [$rad$]') + axs.set_ylim(-1.0, 1.0) + axs.grid() + + cmd_axs.set_ylabel(r'Servo Position [0-1]') + cmd_axs.yaxis.label.set_color("Red") + cmd_axs.spines["right"].set_edgecolor("Red") + cmd_axs.tick_params(axis='y', colors="Red") + cmd_axs.set_ylim(0.0,1.0) + + lines = [p1, p2, p3] + axs.legend(lines, [l.get_label() for l in lines]) + + plt.xlim(0.0, 1.0) + plt.tight_layout() + plt.show() + +if __name__ == '__main__': + Analyser = SteeringAnalyser(model_name_, bag_dir_) diff --git a/system_identification/id_analyser/analyse_tires.py b/system_identification/id_analyser/analyse_tires.py new file mode 100644 index 0000000..39c56a1 --- /dev/null +++ b/system_identification/id_analyser/analyse_tires.py @@ -0,0 +1,219 @@ +import os +from scipy.optimize import least_squares +from scipy.ndimage import median_filter +import numpy as np +import pandas as pd +from numpy.linalg import lstsq +import matplotlib.pyplot as plt +from scipy.signal import sosfiltfilt, butter + +from helpers.bagloader import load_bags +from helpers.load_model import get_dotdict +from helpers.save_model import save + +g_ = 9.81 + +model_name_ = "NUC1_pacejka" #name + tire model name +model, tires = model_name_.split("_") +local_bag_dir = './data/' + model + "/tire_dynamics" # path to folder with rosbag(s) with relevant experiment data + +script_dir = os.path.dirname(os.path.realpath(__file__)) +bag_dir_ = os.path.join(script_dir, local_bag_dir) + +class TireAnalyser: + def __init__(self, model_name = model_name_, bag_dir = bag_dir_): + print(f"Loading model {model_name}...") + self.model = get_dotdict(model_name) + + # hangar + # field_dict = {"/vesc/odom": ["twist.twist.linear.x", "twist.twist.linear.y", "twist.twist.angular.z"], + # "/vesc/commands/motor/speed": ["data"], + # "/vesc/sensors/imu/raw": ["linear_acceleration.x", "linear_acceleration.y"]} + self.cmd_topic = "/vesc/commands/servo/position" + + field_dict = {"/state_estimation/odom": ["twist.twist.angular.z"], + "/car_state/odom": ["twist.twist.linear.x", "twist.twist.linear.y"], + #"/vesc/low_level/ackermann_cmd_mux/output": ["drive.speed", "drive.acceleration", "drive.steering_angle"], + self.cmd_topic: ["data"], + "/vesc/sensors/imu/raw": ["linear_acceleration.x", "linear_acceleration.y"]} + + sim_dict = {"/car_state/odom": ["twist.twist.linear.x", "twist.twist.linear.y", "twist.twist.linear.z", "twist.twist.angular.z"], + "/nav": ["drive.speed", "drive.acceleration", "drive.steering_angle"], + "/imu": ["linear_acceleration.x", "linear_acceleration.y"]} + + if (model == "SIM") : + self.issim = True + self.data = load_bags(bag_dir, sim_dict) + else : + self.issim = False + self.data = load_bags(bag_dir, field_dict) + self.data = self.data[self.data["twist.twist.linear.x"] > 1.0] + + self.analyse_tires() + save(self.model) + + def analyse_tires(self): + self.transform_data() + self.discard_alpha_outliers() + + if self.model.tire_model == "linear": + self.solve_linear_problem() + if self.model.tire_model == "pacejka": + self.solve_pacejka_problem() + + i = 1 + while i < 4: + self.discard_outliers(i) + if self.model.tire_model == "linear": + self.solve_linear_problem() + if self.model.tire_model == "pacejka": + self.solve_pacejka_problem() + i += 1 + + # reset outlier rejection for the final plot + self.transform_data() + self.plot_solution() + + # self.model.C_acc = sol[0][0] + # self.model.C_R = sol[0][1] + + def transform_data(self): + if (self.issim): + self.a_long = self.data["linear_acceleration.x"].to_numpy() + self.a_lat = self.data["linear_acceleration.y"].to_numpy() + else : + sos = butter(2, 0.05, output='sos') + self.a_long_unfilt = - self.data["linear_acceleration.y"].to_numpy() + self.a_long = sosfiltfilt(sos, self.a_long_unfilt) + self.a_lat_unfilt = self.data["linear_acceleration.x"].to_numpy() + self.a_lat = sosfiltfilt(sos, self.a_lat_unfilt) + + self.v_x = median_filter(self.data["twist.twist.linear.x"].to_numpy(), size=5) + self.v_y = median_filter(self.data["twist.twist.linear.y"].to_numpy(), size=5) + self.omega = self.data["twist.twist.angular.z"].to_numpy() + + self.delta = (self.data[self.cmd_topic + ".data"].to_numpy() - self.model.C_0d) / self.model.C_d + + self.F_zf = self.model.m *(g_ * self.model.l_r - self.a_long *self.model.h_cg) / (self.model.l_wb) + self.F_zr = self.model.m *(g_ * self.model.l_f + self.a_long *self.model.h_cg) / (self.model.l_wb) + self.meanFz_f = np.mean(self.F_zf) + self.meanFz_r = np.mean(self.F_zr) + self.alpha_f = -np.arctan((self.v_y + self.omega * self.model.l_f) / self.v_x) + self.delta + self.alpha_r = -np.arctan(((self.v_y - self.omega * self.model.l_r) / self.v_x)) + + self.F_yf = self.model.m * self.model.l_r * self.a_lat / ((self.model.l_r + self.model.l_f) * np.cos(self.delta)) + self.F_yr = self.model.m * self.model.l_f * self.a_lat / (self.model.l_r + self.model.l_f) + + def keep_only_at_indexes(self, keep_idxs): + self.v_x = self.v_x[keep_idxs] + self.v_y = self.v_y[keep_idxs] + self.omega = self.omega[keep_idxs] + self.delta = self.delta[keep_idxs] + self.F_zf = self.F_zf[keep_idxs] + self.F_zr = self.F_zr[keep_idxs] + self.alpha_f = self.alpha_f[keep_idxs] + self.alpha_r = self.alpha_r[keep_idxs] + self.F_yf = self.F_yf[keep_idxs] + self.F_yr = self.F_yr[keep_idxs] + + def discard_alpha_outliers(self): + keep_idxs = np.where((abs(self.alpha_f) <= 2) & (abs(self.alpha_r) <= 2)) + self.keep_only_at_indexes(keep_idxs) + + def discard_outliers(self, i): + print("threshold: " + str(20 * 2**(-i))) + keep_idxs = np.where((self.error_f <= 20 * 2**(-i)) & (self.error_r <= 20 * 2**(-i))) + self.keep_only_at_indexes(keep_idxs) + + def solve_linear_problem(self): + A_f = np.reshape(self.model.mu*self.F_zf*self.alpha_f, (-1, 1)) + A_r = np.reshape(self.model.mu*self.F_zr*self.alpha_r, (-1, 1)) + + y_f = np.reshape(self.F_yf, (-1,1)) + y_r = np.reshape(self.F_yr, (-1,1)) + + # front + sol_f = lstsq(A_f, y_f) + print("Found a least squares solution for front tires: ") + print(sol_f) + self.model.C_Sf = float(sol_f[0][0]) + + sol_r = lstsq(A_r, y_r) + print("Found a least squares solution for rear tires: ") + print(sol_r) + self.model.C_Sr = float(sol_r[0][0]) + + # prepare plot: + self.space_f = np.linspace(-0.65, 0.65, 50) + self.fit_f = self.model.mu * self.meanFz_f * self.model.C_Sf * self.space_f + + self.space_r = np.linspace(-0.65, 0.65, 50) + self.fit_r = self.model.mu * self.meanFz_r * self.model.C_Sr * self.space_r + + self.error_f = abs(self.model.mu * self.F_zf * self.model.C_Sf * self.alpha_f \ + - self.F_yf) + self.error_r = abs(self.model.mu * self.F_zr * self.model.C_Sr * self.alpha_r \ + - self.F_yr) + + def pacejka_formula(self, params, alpha, F_z): + B, C, D, E = params + y = self.model.mu * F_z * D * np.sin(C*np.arctan(B*alpha - E * (B*alpha -np.arctan(B * alpha)))) + return y + + def pacejka_error(self, params, *args): + alpha, F_z, F_y = args + y = self.pacejka_formula(params, alpha, F_z) + error = (y - F_y)**2 + # square error + return error + + def solve_pacejka_problem(self): + start_params = [1, 1, 1, 0.5] + # front + sol_f = least_squares(self.pacejka_error, start_params, args=(self.alpha_f, self.F_zf, self.F_yf), bounds=([0.0, 0.0, 0.0, 0.0], [25, 4.0, 2.0, 1.1])) + print("Found a least squares solution for front tires: ") + print(sol_f.x) + self.model.C_Pf = sol_f.x.tolist() + + sol_r = least_squares(self.pacejka_error, start_params, args=(self.alpha_r, self.F_zr, self.F_yr), bounds=([0.0, 0.0, 0.0, 0.0], [20, 1.5, 2.0, 0.8])) + print("Found a least squares solution for rear tires: ") + print(sol_r.x) + self.model.C_Pr = sol_r.x.tolist() + + # prepare plot: + self.space_f = np.linspace(-0.65, 0.65, 50) + self.fit_f = self.pacejka_formula(self.model.C_Pf, self.space_f, self.meanFz_f) + + self.space_r = np.linspace(-0.65, 0.65, 50) + self.fit_r = self.pacejka_formula(self.model.C_Pr, self.space_r, self.meanFz_r) + + self.error_f = abs(self.pacejka_formula(self.model.C_Pf, self.alpha_f, self.F_zf) \ + - self.F_yf) + self.error_r = abs(self.pacejka_formula(self.model.C_Pr, self.alpha_r, self.F_zr) \ + - self.F_yr) + + def plot_solution(self): + fig, (ax1, ax2) = plt.subplots(2, 1, figsize=(8,6)) + # fig.suptitle('Tire Dynamics Identification') + ax1.scatter(self.alpha_f, self.F_yf, color="Green", alpha=0.15, label='Est. Lateral Force') + ax2.scatter(self.alpha_r, self.F_yr, color="Green", alpha=0.15, label='Est. Lateral Force') + + ax1.plot(self.space_f, self.fit_f, 'b', label=f'Model predicition for fixed Fz: {self.meanFz_f:.2f}') + ax2.plot(self.space_r, self.fit_r[:], 'b', label=f'Model predicition for fixed Fz: {self.meanFz_r:.2f}') + + ax1.set_title('Front tires') + ax2.set_title('Rear tires') + for ax in [ax1, ax2]: + ax.set_xlabel(r'$\alpha_f$ [rad]') + ax.set_ylabel(r'$F_y$ [N]') + ax.grid() + ax.legend(loc='best') + ax.set_xlim([-0.65, 0.65]) + ax.set_ylim([-20, 20]) + + plt.tight_layout() + plt.show() + +if __name__ == '__main__': + TireAnalyser(model_name_, bag_dir_) + \ No newline at end of file diff --git a/system_identification/id_analyser/data/.gitkeep b/system_identification/id_analyser/data/.gitkeep new file mode 100644 index 0000000..e69de29 diff --git a/system_identification/id_analyser/generate_lookup_table.py b/system_identification/id_analyser/generate_lookup_table.py new file mode 100644 index 0000000..a56b5be --- /dev/null +++ b/system_identification/id_analyser/generate_lookup_table.py @@ -0,0 +1,127 @@ +import os +from scipy.integrate import odeint +import numpy as np +import matplotlib.animation as animation +import matplotlib.pyplot as plt + +from helpers.vehicle_dynamics import vehicle_dynamics +from helpers.load_model import get_dotdict + +ANIMATE = False +PLOT = False + +model_name = "NUC1_pacejka" +model, tiretype = model_name.split("_") + +model = get_dotdict(model_name) + +START_STEER = 0.0 +STEER_FINE_END = 0.1 +END_STEER = 0.4 +N_STEPS_STEER = 30 # used for fine region and then again for coarse region +START_VEL = 0.5 +END_VEL = 7.0 +N_STEPS_VEL = 65 + +class Simulator: + def func_ST(self, x, t, u, p): + f = vehicle_dynamics(x, u, p, tiretype) + return f + + def animate(self, i): + self.loc.set_data(self.sol[i, 0], self.sol[i, 1]) + self.loc.set_3d_properties(0) + return self.loc + + def generate_lookup(self): + fine_steers = np.linspace(START_STEER, STEER_FINE_END, N_STEPS_STEER) + steers = np.linspace(STEER_FINE_END, END_STEER, N_STEPS_STEER) + steers = np.concatenate((fine_steers, steers)) + vels = np.linspace(START_VEL, END_VEL, N_STEPS_VEL) + + total_steps_steer = len(steers) + self.lookup_table = np.empty([total_steps_steer + 1, N_STEPS_VEL +1]) + + self.lookup_table[0, 1:] = vels + self.lookup_table[1:, 0] = steers + + for steer_idx, steer in enumerate(steers): + for vel_idx, vel in enumerate(vels): + initialState = [0, 0, 0, vel, 0, 0] + u = [steer, 0] + + # print("Steering Angle :" + str(steer) + " Velocity :" + str(vel)) + dt = 0.01 + duration = 2.0 + t = np.arange(0, duration, dt) + frames = np.arange(0, len(t), 1) + + self.sol = odeint(self.func_ST, initialState, t, args=(u, model)) + + if abs(self.sol[-1, 5] - self.sol[-10, 5]) > 0.05: + # print("failed to converge, limit") + self.lookup_table[steer_idx+1, vel_idx+1:] = None + break + else: + # save the final lateral acceleration + a_lat = self.sol[-1, 5] * vel + # a_lat_all = self.sol[:, 5] * vel + self.lookup_table[steer_idx+1, vel_idx+1] = a_lat + + if PLOT: + fig = plt.figure(figsize=(12, 12)) + ax1 = fig.add_subplot(2, 2, 1) + ax1.plot(t, self.sol[:, 4], 'b', label='vy(t)') + plt.legend(loc='best') + plt.xlabel('t') + plt.grid() + + ax2 = fig.add_subplot(2, 2, 3) + ax2.plot(t, self.sol[:, 5], 'b', label='yaw rate(t)') + plt.legend(loc='best') + plt.xlabel('t') + plt.grid() + + ax4 = fig.add_subplot(2, 2, 4) + ax4.plot(t, self.sol[:, 2], 'b', label='yaw(t)') + plt.legend(loc='best') + plt.xlabel('t') + plt.grid() + + ax3 = fig.add_subplot(2, 2, 2) + ax3.plot(self.sol[:, 0], self.sol[:, 1], 'r', label='position') + plt.legend(loc='best') + plt.xlabel('t') + plt.grid() + + plt.show() + + if ANIMATE: + fig = plt.figure(figsize=(10, 10)) + self.ax = fig.add_subplot(111, projection='3d', autoscale_on=True) + self.loc, = self.ax.plot([],[],[], 'o-', color="blue") + self.ax.set_xlim(self.sol[0, 0], self.sol[-1, 0]) + self.ax.set_ylim(self.sol[0, 1], self.sol[-1, 1]) + self.ax.set_zlim(0, 1) + self.ax.margins(1, tight=False) + self.ax.autoscale_view() + self.ax.grid() + ani = animation.FuncAnimation(fig, self.animate, frames=frames, interval=1, blit = False, repeat=False) + + ani.running = True + plt.show() + ani.running = False + + def save_lookup(self): + model, tires = model_name.split("_") + script_dir = os.path.dirname(__file__) + lookup_dir = os.path.join(script_dir, "models", model) + os.makedirs(lookup_dir, exist_ok=True) + file_path = os.path.join(lookup_dir, model_name + "_lookup_table.csv") + np.savetxt(file_path, self.lookup_table, delimiter=",") + +if __name__ == "__main__": + sim = Simulator() + sim.generate_lookup() + sim.save_lookup() + print("Done, don't forget to copy to steering_lookup/cfg") \ No newline at end of file diff --git a/system_identification/id_analyser/helpers/__init__.py b/system_identification/id_analyser/helpers/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/system_identification/id_analyser/helpers/bagloader.py b/system_identification/id_analyser/helpers/bagloader.py new file mode 100644 index 0000000..e2919be --- /dev/null +++ b/system_identification/id_analyser/helpers/bagloader.py @@ -0,0 +1,135 @@ +from bagpy import bagreader +import pandas as pd +import numpy as np +import os +import sys + +time_fields = ["header.stamp.secs" ,"header.stamp.nsecs", "Time"] + +def get_bag_topic(reader, topic): + try: + data = reader.message_by_topic(topic) + except ValueError as error: + print(error.args) + print("Likely the topic does not exist or wasn't published to") + sys.exit(1) + return data + +def get_bag_df(f, field_dict): + print("Loading Bag " + f + "...") + reader = bagreader(f) + bag_df = [] + bag_start = 0 + bag_end = 0 + for topic, fields in field_dict.items(): + print("___ IMPORTING TOPIC " + topic ) + merge_time = 'Time' + has_stamp = False + topic_csv = get_bag_topic(reader, topic) + available_fields = pd.read_csv(topic_csv, nrows=0).columns.tolist() + # get the fields for that topic: + if time_fields[0] in available_fields: + # topic is stamped, use stamp time fields + try: + topic_df = pd.read_csv(topic_csv, usecols=fields + time_fields) + if len(topic_df[(topic_df['header.stamp.nsecs'] != 0.0)]) > 0: + has_stamp = True + merge_time = 'header.stamp.nsecs' + except ValueError as error: + print(error.args) + sys.exit(1) + if has_stamp == False: + # topic is not stamped + merge_time = 'Time' + has_stamp = False + try: + topic_df = pd.read_csv(topic_csv, usecols=fields + ['Time']) + except ValueError as error: + print(error.args) + sys.exit(1) + + # handle commands via float64 + topic_df.rename(index=str, columns={"data": topic + ".data"}, inplace=True) + + # handle default ackermann drive command + if "drive.speed" in available_fields: + topic_df.drop(topic_df[(topic_df['drive.speed'] == 0.0) & (topic_df['drive.acceleration'] == 0.0)].index, inplace=True, axis=0) + + if has_stamp: + # merge_time = 'header.stamp.nsecs' + # combine secs and n_secs into one column used for merging + topic_df.drop(topic_df[(topic_df['header.stamp.nsecs'] == 0.0)].index, inplace=True, axis=0) + topic_df['header.stamp.nsecs'] = topic_df['header.stamp.secs']*pow(10,9) + topic_df['header.stamp.nsecs'] + topic_df.drop('header.stamp.secs', inplace=True, axis=1) + topic_start = topic_df[merge_time].iloc[0] + topic_end = topic_df[merge_time].iloc[-1] + + # first one does not need to be merged, merge subsequent ones on timestamp + if len(bag_df) == 0: + bag_df = topic_df + bag_start = topic_start + bag_end = topic_end + else: + #if the current topic was published later than the bag_df so far, crop the bag_df, otherwise the topic_df + if (topic_start > bag_start): + bag_start = topic_start + else: + topic_start = bag_start + if (bag_end > topic_end): + bag_end = topic_end + else: + topic_end = bag_end + + bag_df = bag_df[(bag_df[merge_time] >= bag_start) | (bag_df[merge_time] <= bag_end)] + topic_df = topic_df[(topic_df[merge_time] >= topic_start) | (topic_df[merge_time] <= topic_end)] + + # check which one is shorter and select that one as left merge item + # merge finds a match for everything on the left and drops anything that's not matched + if bag_df.size < topic_df.size: + # if we are merging on header.nsecs, keep only one Time column + if has_stamp: + topic_df.drop('Time', inplace=True, axis=1) + try: + bag_df = pd.merge_asof(bag_df, topic_df, on=[merge_time]) + except pd.errors.MergeError as error: + print("bag df was: \n") + print(bag_df.head()) + print("topic df was: \n") + print(topic_df.head()) + print("Tried to merge on " + merge_time + " with bag df on the left") + print(error.args) + sys.exit(1) + else: + if has_stamp: + bag_df.drop('Time', inplace=True, axis=1) + try: + bag_df = pd.merge_asof(topic_df, bag_df, on=[merge_time]) + except pd.errors.MergeError as error: + print("bag df was: \n") + print(bag_df.head()) + print("topic df was: \n") + print(topic_df.head()) + print("Tried to merge on " + merge_time + " with topic df on the left") + print(error.args) + sys.exit(1) + # drop nan's + bag_df.dropna(inplace=True) + bag_df = bag_df.astype({'header.stamp.nsecs':'int64'}) + return bag_df + +def load_bags(directory, field_dict): + # iterate over files in directory + dataframe_list = [] # array to store dataframes that need to be merged later on + if not os.path.exists(directory): + raise ValueError(f"Directory {directory} does not exist") + if os.listdir(directory) == []: + raise ValueError(f"Directory {directory} is empty") + for filename in os.listdir(directory): + f = os.path.join(directory, filename) + # checking if it is a file + if os.path.splitext(f)[1] == ".bag": + dataframe_list.append(get_bag_df(f, field_dict)) + # concatenate all the dataframes from the bags: + bags_df = pd.concat(dataframe_list, ignore_index=True) + print("Total number of datapoints: " + str(bags_df.shape[0])) + return bags_df diff --git a/system_identification/id_analyser/helpers/dotdict.py b/system_identification/id_analyser/helpers/dotdict.py new file mode 100644 index 0000000..673d7f4 --- /dev/null +++ b/system_identification/id_analyser/helpers/dotdict.py @@ -0,0 +1,15 @@ +# from https://stackoverflow.com/questions/2352181/how-to-use-a-dot-to-access-members-of-dictionary +# DotDict class allows to use dot notation to access dictionary attributes + +class DotDict(dict): + """dot.notation access to dictionary attributes""" + __getattr__ = dict.get + __setattr__ = dict.__setitem__ + __delattr__ = dict.__delitem__ + + # convert back to normal dict + def to_dict(self): + dict = {} + for key, value in self.items(): + dict[key] = value + return dict diff --git a/system_identification/id_analyser/helpers/load_model.py b/system_identification/id_analyser/helpers/load_model.py new file mode 100644 index 0000000..faacafd --- /dev/null +++ b/system_identification/id_analyser/helpers/load_model.py @@ -0,0 +1,19 @@ +import yaml +import os +from .dotdict import DotDict + +def get_dict(model_name): + model, tire = model_name.split("_") + script_dir = os.path.dirname(os.path.realpath(__file__)) + model_file = os.path.join(script_dir, "../models", model, model_name + ".txt") + if not os.path.isfile(model_file): + raise ValueError(f"Model {model_name} does not exist") + with open(model_file, 'rb') as f: + params = yaml.load(f, Loader=yaml.Loader) + + return params + +def get_dotdict(model_name): + dict = get_dict(model_name) + params = DotDict(dict) + return params diff --git a/system_identification/id_analyser/helpers/save_model.py b/system_identification/id_analyser/helpers/save_model.py new file mode 100644 index 0000000..6176360 --- /dev/null +++ b/system_identification/id_analyser/helpers/save_model.py @@ -0,0 +1,26 @@ +import yaml +import os +from .dotdict import DotDict + +def save(model, overwrite_existing=True, verbose=False): + script_dir = os.path.dirname(os.path.realpath(__file__)) + folder_path = os.path.join(script_dir, "../models", model['model_name']) + if not os.path.exists(folder_path): + os.makedirs(folder_path) + file_path = os.path.join(folder_path, model['model_name'] +"_"+ model['tire_model'] + ".txt") + if os.path.isfile(file_path): + if (verbose): print("Model already exists") + if overwrite_existing: + if (verbose): print("Overwriting...") + else: + if (verbose): print("Not overwriting.") + return 0 + + # will only work if its dotdict, otherwise no need to convert to dict + try: + model = model.to_dict() + except: + model = model + + with open(file_path, "w") as f: + yaml.dump(model, f, default_flow_style=False) diff --git a/system_identification/id_analyser/helpers/vehicle_dynamics.py b/system_identification/id_analyser/helpers/vehicle_dynamics.py new file mode 100644 index 0000000..347e718 --- /dev/null +++ b/system_identification/id_analyser/helpers/vehicle_dynamics.py @@ -0,0 +1,60 @@ +import math + +g_ = 9.81 + +def vehicle_dynamics(x, u, p, type) -> list: + """ + single-track vehicle dynamics with linear and pacejka tire models + Inputs: + :param x: vehicle state vector (x, y, yaw, v_x, v_y, omega) + :param u: vehicle input vector (steering angle, longitudinal acceleration) + :param p: vehicle parameter vector + :param type: tire model type (linear or pacejka) + Outputs: + :return f: derivative of vehicle state vector + """ + mu = p.mu + if type == "pacejka": + B_f = p.C_Pf[0] + C_f = p.C_Pf[1] + D_f = p.C_Pf[2] + E_f = p.C_Pf[3] + B_r = p.C_Pr[0] + C_r = p.C_Pr[1] + D_r = p.C_Pr[2] + E_r = p.C_Pr[3] + elif type == "linear": + C_Sf = p.C_Sf + C_Sr = p.C_Sr + lf = p.l_f + lr = p.l_r + h = p.h_cg + m = p.m + I_z = p.I_z + + # compute lateral tire slip angles + alpha_f = -math.atan((x[4] + x[5] * lf) / x[3]) + u[0] + alpha_r = -math.atan((x[4] - x[5] * lr) / x[3]) + + # compute vertical tire forces + F_zf = m * (-u[1] * h + g_ * lr) / (lr + lf) + F_zr = m * (u[1] * h + g_ * lf) / (lr + lf) + + F_yf = F_yr = 0 + + # calculate combined slip lateral forces + if type == "pacejka": + F_yf = mu * F_zf * D_f * math.sin(C_f * math.atan(B_f * alpha_f - E_f*(B_f * alpha_f - math.atan(B_f * alpha_f)))) + F_yr = mu * F_zr * D_r * math.sin(C_r * math.atan(B_r * alpha_r - E_r*(B_r * alpha_r - math.atan(B_r * alpha_r)))) + elif type == "linear": + F_yf = mu * F_zf * C_Sf * alpha_f + F_yr = mu * F_zr * C_Sr * alpha_r + + f = [x[3]*math.cos(x[2]) - x[4]*math.sin(x[2]), + x[3]*math.sin(x[2]) + x[4]*math.cos(x[2]), + x[5], + u[1], + 1/m * (F_yr + F_yf) - x[3] * x[5], + 1/I_z * (-lr * F_yr + lf * F_yf)] + + return f diff --git a/system_identification/id_analyser/models/NUC1/NUC1_linear.txt b/system_identification/id_analyser/models/NUC1/NUC1_linear.txt new file mode 100644 index 0000000..51c5b8e --- /dev/null +++ b/system_identification/id_analyser/models/NUC1/NUC1_linear.txt @@ -0,0 +1,19 @@ +C_0d: 0.4769777665344132 +C_R: 3.693303119695026 +C_Sf: 3.70776089172916 +C_Sr: 14.917278165744078 +C_acc: 7.135521073243542 +C_d: -0.8555709456247437 +C_dec: 0.555393889733246 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC1 +mu: 1 +tau_steer: 0.15779476 +tire_model: linear diff --git a/system_identification/id_analyser/models/NUC1/NUC1_pacejka.txt b/system_identification/id_analyser/models/NUC1/NUC1_pacejka.txt new file mode 100644 index 0000000..c1e204f --- /dev/null +++ b/system_identification/id_analyser/models/NUC1/NUC1_pacejka.txt @@ -0,0 +1,27 @@ +C_0d: 0.41117415569890003 +C_Pf: +- 4.47161357602916 +- 0.1320293068694414 +- 12.267008918241816 +- 1.5562751013900538 +C_Pr: +- 9.999999999999812 +- 1.4999999999992566 +- 1.3200250015860229 +- 1.0999999999999999 +C_R: 3.693303119695026 +C_acc: 7.135521073243542 +C_d: -0.8390993957160475 +C_dec: 5.935972263881579 +I_z: 0.05797 +a_max: 3 +a_min: -3 +h_cg: 0.014 +l_f: 0.162 +l_r: 0.145 +l_wb: 0.307 +m: 3.54 +model_name: NUC1 +mu: 1 +tire_model: pacejka +tau_steer: 0.15779476 diff --git a/system_identification/id_analyser/models/SIM1/SIM1_linear.txt b/system_identification/id_analyser/models/SIM1/SIM1_linear.txt new file mode 100644 index 0000000..363a1e4 --- /dev/null +++ b/system_identification/id_analyser/models/SIM1/SIM1_linear.txt @@ -0,0 +1,19 @@ +C_0d: 0.02 +C_0v: 0.0 +C_Sf: 4.718 +C_Sr: 5.4562 +C_acc: 3.2 +C_d: 1.1 +C_dec: 3.2 +C_v: 3500.0 +I_z: 0.04712 +a_max: 3 +a_min: -3 +h_cg: 0.074 +l_f: 0.15875 +l_r: 0.17145 +l_wb: 0.3302 +m: 3.47 +model_name: SIM1 +mu: 0.523 +tire_model: linear diff --git a/system_identification/id_analyser/print_model.py b/system_identification/id_analyser/print_model.py new file mode 100644 index 0000000..41a030c --- /dev/null +++ b/system_identification/id_analyser/print_model.py @@ -0,0 +1,8 @@ +from helpers.load_model import get_dotdict + +model_name = "NUC1_linear" #name + tire model name + +print(f"Loading model {model_name}...") +model = get_dotdict(model_name) +for name, value in model.items(): + print(str(name) + ": " + str(value)) diff --git a/system_identification/id_controller/CMakeLists.txt b/system_identification/id_controller/CMakeLists.txt new file mode 100644 index 0000000..4db9f57 --- /dev/null +++ b/system_identification/id_controller/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.0.2) +project(id_controller) + +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + rospy + std_msgs + f110_msgs +) + +catkin_python_setup() diff --git a/system_identification/id_controller/README.md b/system_identification/id_controller/README.md new file mode 100644 index 0000000..a2fd246 --- /dev/null +++ b/system_identification/id_controller/README.md @@ -0,0 +1,121 @@ +# Id controller +This package contains the node to run the different system identification experiments. Some of these require disabling or circumventing safety checks. Make sure you understand what you are doing before running anything. It's generally best to follow the System Identification procedure outlined [`here`](../../stack_master/checklists/SysID.md). + +## Basic usage + +The `id_controller` node sends the commands corresponding to the experiment to the car + +The node is launched via +```shell +roslaunch id_controller id_controller.launch +``` + +The following arguments are available + - `experiment` : indicates the number of the experiment (1 to 5 are available) + - `id_param_file` : indicates the postion of the config file for the experiments. Default should be fine for most cases, If you need to define a new one, look at the default [here](./parameters/experiments.yaml) + - `drive_topic` : indicates where the topics for commanding the car will be published. Default should be fine in all cases for now. + +## Experiments Types +There are currently 5 types of experiment available +### **1**: +find the parameters for [ackermann_to_vesc.cpp](../../sensors/vesc/vesc_ackermann/src/ackermann_to_vesc.cpp), that are set with a configuration file that depends on the car. For example, for NUC2, the configuration file is [here](../../stack_master/config/NUC2/vesc.yaml). +Namely the steering_to_servo_gain_, steering_to_servo_offset_ + +### **1** Steering Angle to Servo Mapping + +Namely the steering_to_servo_gain, steering_to_servo_offset, required to map steering angle commands to actual commands sent to the servos. + +For this, we bridge the ackermann_to_vesc node and directly publish onto the vesc topics via. + +```cpp + // create publishers to vesc electric-RPM (speed) and servo commands + erpm_pub_ = nh.advertise("commands/motor/speed", 10); + servo_pub_ = nh.advertise("commands/servo/position", 10); +``` + +# BE CAREFUL +This only works if no other node publishes onto these topics. As this would require deactivating the safety switches in place, it's preferable to use the iterative method using experiment 5, described in [`the checklist`](../../stack_master/checklists/SysID.md). + +Parameters are set in the [config file](./parameters/experiments.yaml). +```python +## Experiment 1 ## + +# Commanded VESC speed in electrical RPM. Electrical RPM is the mechanical RPM +# multiplied by the number of motor poles. Any value is accepted by this +# driver. However, note that the VESC may impose a more restrictive bounds on the +# range depending on its configuration. +const_erpm: 3000 + +# Commanded VESC servo output position. Valid range is 0 to 1., check out vesc driver and vesc.yaml: servo_min: 0.1, servo_max: 0.85 +const_servo: 0.415 +``` + +### **2**: Acceleration to Current Mapping +DO NOT USE +# BE CAREFUL +This experiment can go very wrong. It is only needed if you want to control the car via current commands, to control acceleration, as acceleration can otherwise not be commanded directly. It is however strongly advised to command motor speeds for safety reasons. + +Again, to command current directly to the motors, it need to be ensured that no other nodes are publishing to "/vesc/commands/motor/speed" or "/vesc/commands/motor/current". This again requires disabling/killing the safety switches, which is strong discouraged. + +The experiment commands a constant current `const_curr` for a defined `accel_time` and then a constant breaking current `const_brake` for a defined `decel_time`. Do not kill the node while the car is driving fast, otherwise it will not break. Triple check that your times are set correctly. From experience the maximum currents are around 60A. Anything more does not result in increased acceleration. + +Directly relate acceleration of car to commanded motor current, accelerate and decelerate and record acceleration vs cmd current +``` +a = C_curr_accel/m * I_cmd if I_cmd > 0 +a = C_curr_decel/m * I_cmd if I_cmd < 0 +``` + +Parameters are set in the [config file](./parameters/experiments.yaml). +```python +## Experiment 2, send direct current commands and look at acceleration ## +#from vesc.yaml: current_min: 0.0, current_max: 100.0 +const_curr: 40 +const_brake: 50 + +accel_time: 1 # never exceed 2s +decel_time: 1 # never exceed 2s +``` + +### **3**: +To make the acceleration identification safer, this removes the need of experiment 2, to circumvent safety check, by commanding acceleration via the drive topic specified in the launch file. By setting the jerk to 512, the `custom_ackermann_to_vesc_node` knows to interpret this as an acceleration command. It uses the currently estimated acceleration_to_current_gain_ and velocity_to_current_gain_, defined in the vesc.yaml. + +Parameters are set in the [config file](./parameters/experiments.yaml). +# BE CAREFUL +time parameters are set in experiment 2 +```python +accel_time: 1 # never exceed 2s +decel_time: 1 # never exceed 2s + +# Experiment 3 const accel decel with acceleration commands via drive message +const_accel: 5 +const_decel: -5 +``` + +### **4**: +Parameters are set in the [config file](./parameters/experiments.yaml). +```python +# Commanded VESC speed in electrical RPM. Electrical RPM is the mechanical RPM +# multiplied by the number of motor poles. Any value is accepted by this +# driver. However, note that the VESC may impose a more restrictive bounds on the +# range depending on its configuration. +const_erpm: 3000 +... +# experiment 4, increase angle from start_pos, to end_pos over angle_time +# drives with const_erpm defined above +angle_time: 20 + +start_pos: 0.15 +end_pos: 0.85 +``` + +### **5**: +Command a linearly changing steering input and constant velocity for a predefined amount of time. + +Parameters are set in the [config file](./parameters/experiments.yaml). +```python +# experiment 5, increase steering angle, drive with const_speed +const_speed: 3 + +start_angle: 0.1 # rad +end_angle: 0.4 # rad +``` diff --git a/system_identification/id_controller/launch/id_controller.launch b/system_identification/id_controller/launch/id_controller.launch new file mode 100644 index 0000000..290bf9d --- /dev/null +++ b/system_identification/id_controller/launch/id_controller.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + diff --git a/system_identification/id_controller/package.xml b/system_identification/id_controller/package.xml new file mode 100644 index 0000000..bfd736e --- /dev/null +++ b/system_identification/id_controller/package.xml @@ -0,0 +1,26 @@ + + + id_controller + 1.0.0 + The id_controller package + + + + + Jonathan Becker + + catkin + geometry_msgs + rospy + f110_msgs + std_msgs + + MIT + + + + + + + + diff --git a/system_identification/id_controller/parameters/experiments.yaml b/system_identification/id_controller/parameters/experiments.yaml new file mode 100644 index 0000000..da1f84b --- /dev/null +++ b/system_identification/id_controller/parameters/experiments.yaml @@ -0,0 +1,46 @@ +## Experiment 1 ## + +# Commanded VESC speed in electrical RPM. Electrical RPM is the mechanical RPM +# multiplied by the number of motor poles. Any value is accepted by this +# driver. However, note that the VESC may impose a more restrictive bounds on the +# range depending on its configuration. +const_erpm: 3000 + +# Commanded VESC servo output position. Valid range is 0 to 1., check out vesc driver and vesc.yaml: servo_min: 0.1, servo_max: 0.85 +const_servo: 0.415 + +## Experiment 2, send direct current commands and look at acceleration ## +#from vesc.yaml: current_min: 0.0, current_max: 100.0 +const_curr: 40 +const_brake: 50 + +accel_time: 1.5 # never exceed 2s +decel_time: 1.5 # never exceed 2s + +# Experiment 3 const accel decel with acceleration commands via drive message +const_accel: 5 +const_decel: -5 + +# experiment 4, increase angle from start_pos, to end_pos over angle_time +# drives with const_erpm defined above +angle_time: 20 + +start_pos: -0.1 +end_pos: 0.4 + +# experiment 5, increase steering angle, drive with const_speed +const_speed: 3 + +start_angle: 0.1 # rad +end_angle: 0.4 # rad + +# experiment 6, follow given acceleration profile and record IMU data +# profile 1: Step velocity input 2s v=0, 4s v=3, then v=0 +# profile 2: Full acceleration for 2s then full brake for 2s. + #accel_time and decel_time are used as well (profile 2) +acc_profile: 3 + +# experiment 7, constant speed (const_speed from 5), bang bang steer +period: 3 # [s] +repetitions: 5 # total experiment duration will be * seconds +bangbang_steer: 0.1 # [rad] diff --git a/system_identification/id_controller/setup.py b/system_identification/id_controller/setup.py new file mode 100644 index 0000000..54a7528 --- /dev/null +++ b/system_identification/id_controller/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['id_controller'], + package_dir={'': 'src'}, +) + +setup(**setup_args) diff --git a/system_identification/id_controller/src/controller_node.py b/system_identification/id_controller/src/controller_node.py new file mode 100755 index 0000000..dc2685a --- /dev/null +++ b/system_identification/id_controller/src/controller_node.py @@ -0,0 +1,271 @@ +#!/usr/bin/env python3 +#node for recording rosbags. Node runs on NUC on drone while gui runs on flight book + +import rospy +from ackermann_msgs.msg import AckermannDriveStamped +from std_msgs.msg import Float64 + +class IDController: + + def __init__(self): + #subscribers + # rospy.Subscriber("/vicon/F110rosbag_record", Record , self.GUI_cb, queue_size=10) + + #publishers + self.cmd_pub = rospy.Publisher('drive_topic', AckermannDriveStamped, queue_size=10) + # create publishers to vesc electric-RPM (speed) and servo commands (bridge ackermann to vesc node and directly talk to vesc driver) + self.erpm_pub = rospy.Publisher("/vesc/commands/motor/speed", Float64, queue_size=10) + self.servo_pub = rospy.Publisher("/vesc/commands/servo/position", Float64, queue_size=10) + self.current_pub = rospy.Publisher("/vesc/commands/motor/current", Float64, queue_size=10) + self.brake_pub = rospy.Publisher("/vesc/commands/motor/brake", Float64, queue_size=10) + + # parameters + self.experiment = rospy.get_param("/id_controller/experiment") + + # 1 - send const vesc command + self.const_erpm = rospy.get_param("/id_controller/const_erpm") + self.const_servo = rospy.get_param("/id_controller/const_servo") + + # 2 - accelerate then decelerate via current commands + self.const_curr = rospy.get_param("/id_controller/const_curr") + self.const_brake = rospy.get_param("/id_controller/const_brake") + self.accel_time = rospy.get_param("/id_controller/accel_time") + self.decel_time = rospy.get_param("/id_controller/decel_time") + + # 3 - accelerate then decelerate via acceleration commands + self.const_accel = rospy.get_param("/id_controller/const_accel") + self.const_decel = rospy.get_param("/id_controller/const_decel") + + # 4 - drive with const erpm and increase servo position + self.angle_time = rospy.get_param("/id_controller/angle_time") + self.start_pos = rospy.get_param("/id_controller/start_pos") + self.end_pos = rospy.get_param("/id_controller/end_pos") + + #5 drive with const motor speed and increase steering angle uses angle time from above + self.start_angle = rospy.get_param("/id_controller/start_angle") + self.end_angle = rospy.get_param("/id_controller/end_angle") + self.const_speed = rospy.get_param("/id_controller/const_speed") + + #6 follow given acceleration profile and record IMU data + self.acc_profile = rospy.get_param("id_controller/acc_profile") + + # 7 bang bang control on the servo with constant speed + #self.period = rospy.get_param("/id_controller/bangbang_period") + #self.repetitions = rospy.get_param("/id_controller/repetitions") + #self.bangbang_steer = rospy.get_param("/id_controller/bangbang_steer") + + rospy.logwarn("Starting experiment #" + str(self.experiment)) + + rate = rospy.Rate(30) + self.start_time = rospy.get_time() + while not rospy.is_shutdown(): + if self.experiment == 1: + self.send_const_vesc_cmd() + elif self.experiment == 2: + self.accel_decel() + elif self.experiment == 3: + self.drive_accel_decel() + elif self.experiment == 4: + self.increase_servo_position() + elif self.experiment == 5: + self.increase_steering_angle() + elif self.experiment == 6: + self.acc_profile_recorder() + elif self.experiment == 7: + self.bang_bang_servo() + rate.sleep() + + def send_const_vesc_cmd(self): + erpm_msg = Float64(self.const_erpm) + servo_msg = Float64(self.const_servo) + self.erpm_pub.publish(erpm_msg) + self.servo_pub.publish(servo_msg) + + def accel_decel(self): + servo_msg = Float64(self.const_servo) + self.servo_pub.publish(servo_msg) + if (rospy.get_time() - self.start_time < self.accel_time): + current_msg = Float64(self.const_curr) + self.current_pub.publish(current_msg) + rospy.loginfo("accelerating") + elif (rospy.get_time() - self.start_time < self.accel_time + self.decel_time): + brake_msg = Float64(self.const_brake) + self.brake_pub.publish(brake_msg) + rospy.loginfo("decelerating") + + def drive_accel_decel(self): + drive_msg = AckermannDriveStamped() + drive_msg.header.stamp = rospy.Time.now() + drive_msg.drive.steering_angle = 0 + drive_msg.drive.steering_angle_velocity = 0 + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 512 # used a flag to indicate the ackermann controller to use acceleration instead of speed + + if (rospy.get_time() - self.start_time < 3): #wait for 3s + rospy.loginfo_once("experiment starting") + elif (rospy.get_time() - self.start_time < self.accel_time + 3): + drive_msg.drive.acceleration = self.const_accel + rospy.loginfo("accelerating") + self.cmd_pub.publish(drive_msg) + elif (rospy.get_time() - self.start_time < self.accel_time + self.decel_time + 3): + drive_msg.drive.acceleration = self.const_decel + self.cmd_pub.publish(drive_msg) + rospy.loginfo("decelerating") + + else: + rospy.loginfo_once("experiment over") + + + def increase_servo_position(self): + time_frac = (rospy.get_time() - self.start_time)/self.angle_time + if time_frac <= 1: + angle = self.end_pos * time_frac + self.start_pos * (1 - time_frac) + servo_msg = Float64(angle) + erpm_msg = Float64(self.const_erpm) + self.erpm_pub.publish(erpm_msg) + self.servo_pub.publish(servo_msg) + else: + rospy.loginfo_once("experiment over") + + def increase_steering_angle(self): + time_frac = (rospy.get_time() - self.start_time)/self.angle_time + if time_frac <= 1: + angle = self.end_angle * time_frac + self.start_angle * (1 - time_frac) + drive_msg = AckermannDriveStamped() + drive_msg.header.stamp = rospy.Time.now() + drive_msg.drive.steering_angle = angle + drive_msg.drive.steering_angle_velocity = 0 + drive_msg.drive.speed = self.const_speed + drive_msg.drive.acceleration = 0 + drive_msg.drive.jerk = 0 + self.cmd_pub.publish(drive_msg) + if time_frac >= 0.9: + rospy.logwarn("Ending soon, stop the bag") + else: + rospy.loginfo_once("experiment over") + + def acc_profile_recorder(self): + drive_msg = AckermannDriveStamped() + drive_msg.header.stamp = rospy.Time.now() + drive_msg.drive.steering_angle = 0 + drive_msg.drive.steering_angle_velocity = 0 + + if self.acc_profile == 1: # Step response to speed + speed = 3 + duration = 4 + if (rospy.get_time() - self.start_time < 2): #stand still for 2 seconds + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo_once("experiment starting") + elif (rospy.get_time() - self.start_time > duration + 2): # stand still again after experiment duration + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo_once("experiment over") + else: # step input to 3 m/s after 2 seconds have passed + drive_msg.drive.speed = speed + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo("accelerating") + elif self.acc_profile == 2: # Max acc and braking test + drive_msg = AckermannDriveStamped() + drive_msg.header.stamp = rospy.Time.now() + drive_msg.drive.steering_angle = 0 + drive_msg.drive.steering_angle_velocity = 0 + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 512 + if (rospy.get_time() - self.start_time < self.accel_time): + drive_msg.drive.acceleration = 100 + rospy.loginfo("accelerating") + self.cmd_pub.publish(drive_msg) + elif (rospy.get_time() - self.start_time < self.accel_time + self.decel_time): + drive_msg.drive.acceleration = -100 + self.cmd_pub.publish(drive_msg) + rospy.loginfo("decelerating") + else: + rospy.loginfo_once("experiment over") + elif self.acc_profile == 3: # speed steps at speed + speed1 = 3 + speed2 = 5 + duration = 6 + if (rospy.get_time() - self.start_time < 2 or rospy.get_time() - self.start_time > 2 + duration): #stand still for 2 seconds + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo_once("standing still") + elif (rospy.get_time() - self.start_time > duration/3 + 2 and rospy.get_time() - self.start_time < duration/3*2 + 2): #accelerate to speed 2 + drive_msg.drive.speed = speed2 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo("accelerating further") + elif (rospy.get_time() - self.start_time > duration/3*2 + 2 and rospy.get_time() - self.start_time < duration + 2): #decelerate to speed 1 again + drive_msg.drive.speed = speed2 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo("decelerating") + elif (rospy.get_time() - self.start_time > duration + 2): # stand still again after experiment duration + drive_msg.drive.speed = 0 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo_once("experiment over") + else: # step input to speed 1 after 2 seconds have passed + drive_msg.drive.speed = speed1 + drive_msg.drive.jerk = 0 + drive_msg.drive.acceleration = 0 + self.cmd_pub.publish(drive_msg) + rospy.loginfo("accelerating") + else: + rospy.loginfo("invalid speed profile") + drive_msg.drive.speed = 1 + drive_msg.drive.jerk = 512 + if (rospy.get_time() - self.start_time < self.accel_time): + drive_msg.drive.acceleration = self.const_accel + rospy.loginfo("accelerating") + self.cmd_pub.publish(drive_msg) + elif (rospy.get_time() - self.start_time < self.accel_time + self.decel_time): + drive_msg.drive.acceleration = self.const_decel + self.cmd_pub.publish(drive_msg) + rospy.loginfo("decelerating") + else: + rospy.loginfo_once("experiment over") + + + def bang_bang_servo(self): + time_frac = (rospy.get_time() - self.start_time)/self.period + + steer_sign = - 1 + if time_frac%1 < 0.5: + steer_sign = 1 + + if time_frac <= 1*self.repetitions: + angle = steer_sign*self.bangbang_steer + + drive_msg = AckermannDriveStamped() + drive_msg.header.stamp = rospy.Time.now() + drive_msg.drive.steering_angle = angle + drive_msg.drive.steering_angle_velocity = 0 + drive_msg.drive.speed = self.const_speed + drive_msg.drive.acceleration = 0 + drive_msg.drive.jerk = 0 + self.cmd_pub.publish(drive_msg) + else: + rospy.loginfo_once("experiment over") + + +if __name__ == '__main__': + rospy.init_node('id_controller') + rospy.loginfo('id Controller is running') + + # Go to class functions that do all the heavy lifting. Do error checking. + try: + IDController = IDController() + except rospy.ROSInterruptException: + pass diff --git a/system_identification/steering_lookup/CMakeLists.txt b/system_identification/steering_lookup/CMakeLists.txt new file mode 100644 index 0000000..ca414c1 --- /dev/null +++ b/system_identification/steering_lookup/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 3.0.2) +project(steering_lookup) + +find_package(catkin) + +catkin_python_setup() diff --git a/system_identification/steering_lookup/README.md b/system_identification/steering_lookup/README.md new file mode 100644 index 0000000..759b451 --- /dev/null +++ b/system_identification/steering_lookup/README.md @@ -0,0 +1,22 @@ +# Steering lookup +This package provides an importable library to use the steering lookup obtained from sysid experiments for the MAP controller. + +## How to use + +Build the library (catkin build steering_lookup) and source the workspace. After generating the lookup table using the scripts in 'id_analyser', you can import this library and use it in another ros package like so: + +```python +from steering_lookup.lookup_steer_angle import LookupSteerAngle + +# [...] + +steer_lookup = LookupSteerAngle('') +accel = 5.0 # m/s2 +vel = 3.5 # m/s +steer_angle = steer_lookup.lookup_steer_angle(accel, vel) +# Output steer angle: +# rospy.loginfo(steer_angle) + +``` + +Replace \ with the name of your config without "_lookup_table.csv". So if your config is called CAR2_pacejka_lookup_table.csv, \ would be CAR2_pecejka. \ No newline at end of file diff --git a/system_identification/steering_lookup/cfg/NUC2_pacejka_lookup_table.csv b/system_identification/steering_lookup/cfg/NUC2_pacejka_lookup_table.csv new file mode 100644 index 0000000..85f530b --- /dev/null +++ b/system_identification/steering_lookup/cfg/NUC2_pacejka_lookup_table.csv @@ -0,0 +1,61 @@ 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diff --git a/system_identification/steering_lookup/package.xml b/system_identification/steering_lookup/package.xml new file mode 100644 index 0000000..28ed067 --- /dev/null +++ b/system_identification/steering_lookup/package.xml @@ -0,0 +1,16 @@ + + + steering_lookup + 1.0.0 + The steering_lookup library + + Jonathan Becker + + MIT + + catkin + + + + + diff --git a/system_identification/steering_lookup/setup.py b/system_identification/steering_lookup/setup.py new file mode 100644 index 0000000..bbf35f4 --- /dev/null +++ b/system_identification/steering_lookup/setup.py @@ -0,0 +1,12 @@ +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['steering_lookup'], + package_dir={'': 'src'}, +) + +setup(**setup_args) \ No newline at end of file diff --git a/system_identification/steering_lookup/src/steering_lookup/__init__.py b/system_identification/steering_lookup/src/steering_lookup/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/system_identification/steering_lookup/src/steering_lookup/lookup_steer_angle.py b/system_identification/steering_lookup/src/steering_lookup/lookup_steer_angle.py new file mode 100644 index 0000000..6acafdc --- /dev/null +++ b/system_identification/steering_lookup/src/steering_lookup/lookup_steer_angle.py @@ -0,0 +1,74 @@ +import numpy as np +import rospkg + +def find_nearest(array, value): + # array = np.asarray(array) + idx = (np.abs(array - value)).argmin() + return array[idx], idx + +def find_closest_neighbors(array, value): + # index of first nan + is_nan_array = np.argwhere(np.isnan(array)) + if len(is_nan_array) > 0: + first_nan = is_nan_array[0][0] + array = array[0:first_nan] + closest, closest_idx = find_nearest(array, value) + if closest_idx == 0: + return array[0], 0, array[0], 0 + elif closest_idx == (len(array) - 1): + return array[closest_idx], closest_idx, array[closest_idx], closest_idx + else: + second_closest, second_idx = \ + find_nearest(array[[max(closest_idx-1, 0), + min(closest_idx+1, len(array)-1)]], value) + second_idx = -1 + closest_idx + 2 * second_idx + return closest, closest_idx, second_closest, second_idx + + +class LookupSteerAngle: + """ + LookupSteerAngle: + """ + def __init__(self, model_name, logger): + rospack = rospkg.RosPack() + path = rospack.get_path('steering_lookup') + file_path = path + '/cfg/' + model_name + '_lookup_table.csv' + try: + self.lu = np.loadtxt(file_path, delimiter=",") + except IOError: + raise IOError("Lookup table not found at " + file_path + ". Please check the file path.") + self.logger = logger + + def lookup_steer_angle(self, accel, vel): + """ + lookup_steer_angle: + """ + if accel > 0.0: + sign_accel = 1.0 + else: + sign_accel = -1.0 + # lookup only for positive accelerations + accel = abs(accel) + lu_vs = self.lu[0, 1:] + lu_steers = self.lu[1:, 0] + + #if (vel > lu_vs[-1]): + # self.logger(5, "Velocity exceeds lookup table, generating steering angle for v :" + str(lu_vs[-1])) + + # find closest velocities to vel + c_v, c_v_idx = find_nearest(lu_vs, vel) + + # find two closest accelerations to accel + c_a, c_a_idx, s_a, s_a_idx = find_closest_neighbors(self.lu[1:, c_v_idx + 1], accel) + if c_a_idx == s_a_idx: + steer_angle = lu_steers[c_a_idx] + else : + # interpolate between two closest accelerations to find steering angle + steer_angle = np.interp(accel, [c_a, s_a], [lu_steers[c_a_idx], lu_steers[s_a_idx]]) + return steer_angle * sign_accel + +# test case +if __name__ == "__main__": + detective = LookupSteerAngle("NUC1_pacejka", print) + steer_angle = detective.lookup_steer_angle(9, 7) + print(steer_angle) \ No newline at end of file