From f09779ba6d375b4687a682064d4df9bb5af7c654 Mon Sep 17 00:00:00 2001 From: Edoardo Ghignone Date: Tue, 19 Mar 2024 17:15:22 +0100 Subject: [PATCH] initial commit --- .devcontainer/.install_utils/bashrc_ext | 20 + .../.install_utils/cartographer_dep.sh | 7 + .../.install_utils/cartographer_req.sh | 27 + .../.install_utils/cartographer_setup.sh | 34 + .../.install_utils/catkin_skiplist_car.sh | 21 + .../.install_utils/catkin_skiplist_sim.sh | 6 + .devcontainer/.install_utils/dev_pf_setup.sh | 10 + .../.install_utils/install_abseil.sh | 33 + .../.install_utils/linux_req_car.txt | 38 + .../.install_utils/linux_req_sim.txt | 30 + .devcontainer/.install_utils/pf_setup.sh | 10 + .../.install_utils/post_installation.sh | 11 + .devcontainer/.install_utils/requirements.txt | 24 + .../.install_utils/ros_entrypoint.sh | 5 + .devcontainer/.install_utils/setup_user.sh | 4 + .devcontainer/.install_utils/xauth_setup.sh | 8 + .devcontainer/devcontainer.json | 43 + .docker_utils/Dockerfile.base_arm | 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system_identification/id_analyser/helpers/save_model.py create mode 100644 system_identification/id_analyser/helpers/vehicle_dynamics.py create mode 100644 system_identification/id_analyser/models/NUC1/NUC1_linear.txt create mode 100644 system_identification/id_analyser/models/NUC1/NUC1_pacejka.txt create mode 100644 system_identification/id_analyser/models/SIM1/SIM1_linear.txt create mode 100644 system_identification/id_analyser/print_model.py create mode 100644 system_identification/id_controller/CMakeLists.txt create mode 100644 system_identification/id_controller/README.md create mode 100644 system_identification/id_controller/launch/id_controller.launch create mode 100644 system_identification/id_controller/package.xml create mode 100644 system_identification/id_controller/parameters/experiments.yaml create mode 100644 system_identification/id_controller/setup.py create mode 100755 system_identification/id_controller/src/controller_node.py create mode 100644 system_identification/steering_lookup/CMakeLists.txt create mode 100644 system_identification/steering_lookup/README.md create mode 100644 system_identification/steering_lookup/cfg/NUC2_pacejka_lookup_table.csv create mode 100644 system_identification/steering_lookup/cfg/SIM_linear_lookup_table.csv create mode 100644 system_identification/steering_lookup/package.xml create mode 100644 system_identification/steering_lookup/setup.py create mode 100644 system_identification/steering_lookup/src/steering_lookup/__init__.py create mode 100644 system_identification/steering_lookup/src/steering_lookup/lookup_steer_angle.py 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 0000000000000000000000000000000000000000..c86a4b5a9cad1c6bbae8c70c5bc4fb2fd2ce8e51 GIT binary patch literal 77679 zcmZs@bzGBu-#;t}(j^T86c7Ok=@A2!RuGVGkd_)C-K_!xq(MO#CEX=mqq}o38tLxm 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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 0000000000000000000000000000000000000000..e263e09b88748ef5fa84c7e4eb715c28b3965c20 GIT binary patch literal 45330 zcmeFZ`9G9@`#(G-6+)Z5$yP}A%9dTEEJ@kNnrzv#uY*=4B3Vk7)Tpdu-)`w#fe<8fV=t2yUfUaw<$KA*>NoKJ6Dze-EZOpQXJXjN4% zYoSp4vQa1sj)VK*UqpVt*$e+8>8@}n(2qM-B_PC|881?`4H(VHXx+4D*Mqb&-R9jJQw zl8$%$1kuY|XSkzwz((;C6_u_bR)v=J^5xPerw{JEufu!)({bCqT9-rIFDdMi<J5ocAPv-f=?(I`-*xdBiWKpzMTutPvS}S$sM*A%$MxVPfH| z4{iWH-e-l&PVW4P8dMCT-1#&7%K!cA|E>WF_5WiHzTaRLcQ_kdJuo-t#1P!CoHYk`b8E++6@2h#n=(SS7C~Vq0)e#w8CO`C;_GCAa8TFas$gMpJ%*XU! zMINo{-A73|7Hbyp6RY~NElro7LCE-`ZW23UkmZw3DAe!QeLkbC%}MfRSD&-IutIwl 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zul&{@_*+M)9_zFDB#hqXXm@mNhE948k1OcQD9CjQ`5GuUH0iiC-Lo|by#r4b3sHj= zi>NoQ&c5>$VCOMea<&)-f%RIiT4X?MrbakhiWRP)IKDbNWBzzgTaPTl`(dOhMVRZ1 zv%c4kWx<+-^%Ls&M~5-KLlO5oAUtv=xhkEJF6OYUw6|1IgJ-?bu7!PfQau7cssj-r z!am(gmj#rKVfn5IFOW1f!sPv(^es3taT>yL zg5B>#WX;A-zeTBj_%nteeWBLkNjPOZHi}yy^1T7at^M&WMJ^fApv_K-1RW=I_`iUb}3>OyEocEW`u4S-6433R>%g3wKn625dr*HUXm(-^kF(wW5qhm)vG<^X?B63|)u!vfe5P8u} zg9O5*4{O{Lvs`DCuErTo0oZe_Le+Z*b?I|#TuNM>XbQeixT3T5qp1*`-rGve8TD5v zcYx2s$R$B|I*Qb34D&>|VH|nE^7a^NX|NlQ;?+SwT+wAMs(ilt6iw$K#K4EY&SR&C zfN7Eh>Novn00wlB!>}vK2G21WZ?M5OC-X-xJRw3TXhq%vT$(s|lO5m|5g!(`%3{5= zAmpqIe~gb%&#o*YGWdeJ$b{BlaOKriyXN4eZcoksLemdWQ93Ah?72|IZaO8AlT0XT>96%d|(m*;dJtlcu-1qX7y y7#%+JN|)n^w((QRD^API|Nj%+mVdh& 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 0000000000000000000000000000000000000000..1705e8fc03fb8b2e37925741f1e5969a18006ec2 GIT binary patch literal 98201 zcmZU51yodB`#s%AH&Rm4DBU34p@4Kqmy|R^homAQAgOdqh{V89f*>N@3?U^j^Z>)m z|MGs{Z>|65yVk6M#bWL~_nh-Q&wlpaXA<>w)rbk`3DD5ch&9xe4bjjrk!WZbVR$&e zUy{cwNq`^dzJ_W_XmvjrchS&T&@_}4p9Wg}`G6fbGkr67p8PGAwY9Z&q1=5i;)Ia#{{4w+6Ty_)rBb!DH7FFFkdQFtyfQJB z8zHLrCM+Ed|9@URNm@P5F{qWUkVfYTwwmXkaolF>p3N@07{VF$9srM6!TY4+Ur#52 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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 0000000000000000000000000000000000000000..e263e09b88748ef5fa84c7e4eb715c28b3965c20 GIT binary patch literal 45330 zcmeFZ`9G9@`#(G-6+)Z5$yP}A%9dTEEJ@kNnrzv#uY*=4B3Vk7)Tpdu-)`w#fe<8fV=t2yUfUaw<$KA*>NoKJ6Dze-EZOpQXJXjN4% zYoSp4vQa1sj)VK*UqpVt*$e+8>8@}n(2qM-B_PC|881?`4H(VHXx+4D*Mqb&-R9jJQw zl8$%$1kuY|XSkzwz((;C6_u_bR)v=J^5xPerw{JEufu!)({bCqT9-rIFDdMi<J5ocAPv-f=?(I`-*xdBiWKpzMTutPvS}S$sM*A%$MxVPfH| z4{iWH-e-l&PVW4P8dMCT-1#&7%K!cA|E>WF_5WiHzTaRLcQ_kdJuo-t#1P!CoHYk`b8E++6@2h#n=(SS7C~Vq0)e#w8CO`C;_GCAa8TFas$gMpJ%*XU! zMINo{-A73|7Hbyp6RY~NElro7LCE-`ZW23UkmZw3DAe!QeLkbC%}MfRSD&-IutIwl zJ@A|8E>Q2sEG0BrWEvJ|wWsN77qFw4>N3!I?i;HM1`Ea|uC~8F-%IVIM{!tieBO&H 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zul&{@_*+M)9_zFDB#hqXXm@mNhE948k1OcQD9CjQ`5GuUH0iiC-Lo|by#r4b3sHj= zi>NoQ&c5>$VCOMea<&)-f%RIiT4X?MrbakhiWRP)IKDbNWBzzgTaPTl`(dOhMVRZ1 zv%c4kWx<+-^%Ls&M~5-KLlO5oAUtv=xhkEJF6OYUw6|1IgJ-?bu7!PfQau7cssj-r z!am(gmj#rKVfn5IFOW1f!sPv(^es3taT>yL zg5B>#WX;A-zeTBj_%nteeWBLkNjPOZHi}yy^1T7at^M&WMJ^fApv_K-1RW=I_`iUb}3>OyEocEW`u4S-6433R>%g3wKn625dr*HUXm(-^kF(wW5qhm)vG<^X?B63|)u!vfe5P8u} zg9O5*4{O{Lvs`DCuErTo0oZe_Le+Z*b?I|#TuNM>XbQeixT3T5qp1*`-rGve8TD5v zcYx2s$R$B|I*Qb34D&>|VH|nE^7a^NX|NlQ;?+SwT+wAMs(ilt6iw$K#K4EY&SR&C zfN7Eh>Novn00wlB!>}vK2G21WZ?M5OC-X-xJRw3TXhq%vT$(s|lO5m|5g!(`%3{5= zAmpqIe~gb%&#o*YGWdeJ$b{BlaOKriyXN4eZcoksLemdWQ93Ah?72|IZaO8AlT0XT>96%d|(m*;dJtlcu-1qX7y y7#%+JN|)n^w((QRD^API|Nj%+mVdh& 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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